DocumentCode
529634
Title
Parallel mechanism using passive pin joints with wide movable area
Author
Okawa, Kazuya ; Okamura, Yoshihiro
Author_Institution
Grad. Sch. of Eng., Chiba Univ., Chiba, Japan
fYear
2010
fDate
18-21 Aug. 2010
Firstpage
3413
Lastpage
3115
Abstract
This paper proposes a novel parallel mechanism with wide movable area. As for a general parallel mechanism, ball joints are usually used to it. The mechanism cannot move wide area because of angle limitation of the ball joints. Therefore, the mechanism that used passive pin joints instead of the ball joints is proposed. This paper describes the effectiveness of the proposed mechanism by investigation of `Transmission Index [1]´.
Keywords
manipulator kinematics; variable structure systems; parallel mechanism; passive pin joints; transmission index; wide movable area; Compounds; End effectors; Indexes; Joints; Kinematics; Simulation; Ball Joint; Parallel Mechanism; Pin Joint; Singularity; Transmission Index;
fLanguage
English
Publisher
ieee
Conference_Titel
SICE Annual Conference 2010, Proceedings of
Conference_Location
Taipei
Print_ISBN
978-1-4244-7642-8
Type
conf
Filename
5602980
Link To Document