Kinematic Analysis of a Novel 3-DOFs Parallel Manipulator

Author

Yuan, Jianfeng ; Zhang, Xianmin

Author_Institution

Coll. of Mech. Eng., South China Univ. of Technol., Guangzhou

fYear

2006

fDate

25-28 June 2006

Firstpage

2024

Lastpage

2029

Abstract

This paper focuses on the kinematic analysis of a novel 3-DOFs parallel manipulator. This parallel manipulator is a modified version of the well-known Tricept robot, achieved by making two of the three active limbs and the passive limb coplanar. The inverse kinematic problem is solved and the velocity equation is given. There are at most three real solutions, which are described in closed forms, for the forward kinematic problem of the proposed parallel manipulator. Through the analysis of local and global conditioning indices for a given workspace, it can be found that the kinematic performance of this parallel manipulator is similar to that of the Tricept

Keywords

manipulator kinematics; velocity control; 3 DOF parallel manipulator; Tricept robot; kinematic analysis; velocity equation; Educational institutions; Kinematics; Machine tools; Manipulators; Manufacturing; Mechanical engineering; Medical robotics; Parallel robots; Robotic assembly; Service robots; Kinematic analysis; Parallel manipulator; Tricept;

fLanguage

English

Publisher

ieee

Conference_Titel

Mechatronics and Automation, Proceedings of the 2006 IEEE International Conference on

Conference_Location

Luoyang, Henan

Print_ISBN

1-4244-0465-7

Electronic_ISBN

1-4244-0466-5

Type

conf

DOI

10.1109/ICMA.2006.257584

Filename

4026407