Structure and Kinematics Decoupling Analysis of a Novel 3D Translations Spatial Parallel Robot Mechanism

Author

Chen, Haizhen ; Song, Hongpeng ; Zou, Zhongyue

Author_Institution

Sch. of Mech. Eng., Shandong Univ. of Technol., Zibo, China

Volume

2

fYear

2009

fDate

7-8 Nov. 2009

Firstpage

303

Lastpage

307

Abstract

In this paper, a novel spatial parallel robot mechanism that can carry out three-dimensional translations was proposed. Based on topology structure design theory of robot mechanism, the structure and motion output were analyzed. The DOF and the coupling coefficient were calculated. According to the characteristics of the mechanism, the forward and inverse position models of mechanism were presented by using of the coordinates transformation theory and projection theory of analytic geometry. Depend on the conclusions of the forward solution, the decoupling of the input and output was analyzed. The kinematics decoupling characteristic of the mechanism was simulated and verified by ADAMS software. The research provided theory foundation for future study and industrial application.

Keywords

control system synthesis; geometry; robot kinematics; 3D translations spatial parallel robot mechanism; ADAMS software; analytic geometry; coordinates transformation theory; degree of freedom; forward position model; inverse position model; kinematics decoupling analysis; motion output analysis; projection theory; structure analysis; topology structure design theory; Artificial intelligence; Computational intelligence; Industrial control; Inverse problems; Kinematics; Manipulator dynamics; Mechanical engineering; Motion analysis; Parallel robots; Topology; decoupling simulated; forward and inverse solution; parallel robot mechanism;

fLanguage

English

Publisher

ieee

Conference_Titel

Artificial Intelligence and Computational Intelligence, 2009. AICI '09. International Conference on

Conference_Location

Shanghai

Print_ISBN

978-1-4244-3835-8

Electronic_ISBN

978-0-7695-3816-7

Type

conf

DOI

10.1109/AICI.2009.129

Filename

5375757