The kinematics and workspace analyses of a parallel manipulator for manufacturing

Author

Hao, Zou ; Qiyi, Wang ; Qunming, Li ; Bo, Zhang

Author_Institution

Inst. of Mech. Eng., Northeastern Univ., Shenyang, China

fYear

1996

fDate

2-6 Dec 1996

Firstpage

647

Lastpage

650

Abstract

In this paper, a new type of manipulator for manufacturing based on Stewart platform is proposed. For the requirement of high accuracy and simple structure, a new scheme of the leg mechanism which is the key component parts in parallel mechanism is presented. As we know, the kinematics of a general parallel Stewart platform is difficult. Furthermore, the kinematics analyses of this manipulator is more complicated because of some structural derived motions. So a new algorithm is represented to solve this problem conveniently and rapidly even the structural derived motions are concerned. In the last part of this paper, the workspace of the model manipulator is analyzed

Keywords

industrial manipulators; manipulator kinematics; kinematics analyses; leg mechanism; manufacturing; parallel Stewart platform; parallel manipulator; structural derived motions; workspace analyses; Kinematics; Leg; Machine tools; Manipulators; Mechanical engineering; Parallel machines; Pulp manufacturing; Robotic assembly; Robotics and automation; Service robots;

fLanguage

English

Publisher

ieee

Conference_Titel

Industrial Technology, 1996. (ICIT '96), Proceedings of The IEEE International Conference on

Conference_Location

Shanghai

Print_ISBN

0-7803-3104-4

Type

conf

DOI

10.1109/ICIT.1996.601672

Filename

601672