Title :
Research on kinematics and simulation of a three-DOF parallel manipulator
Author_Institution :
Sch. of Mech. Eng., Wuhan Polytech. Univ., Wuhan, China
Abstract :
A three-DOF parallel manipulator was presented in this paper, which is constituted with two platforms and three legs. The position transformational matrix was deduced and the normal and inverse pose solutions to the manipulator were analyzed. Then the kinematic Jacobian matrix and Hessian matrix were derived by the method of influence coefficient. The kinematics simulation of the mechanism was carried out and the result shows it has poor coupling on the directions of three movements, which is appropriate for leveling a platform.
Keywords :
Hessian matrices; Jacobian matrices; manipulator kinematics; Hessian matrix; influence coefficient method; inverse pose solution; kinematic Jacobian matrix; kinematics simulation; position transformational matrix; three-DOF parallel manipulator; Bismuth; Jacobian matrices; Kinematics; Manipulator dynamics; Service robots; Kinematics; Parallel manipulator; Simulation; influence coefficient;
Conference_Titel :
Mechanic Automation and Control Engineering (MACE), 2011 Second International Conference on
Conference_Location :
Hohhot
Print_ISBN :
978-1-4244-9436-1
DOI :
10.1109/MACE.2011.5988231
