کد مقاله | کد نشریه | سال انتشار | مقاله انگلیسی | نسخه تمام متن |
---|---|---|---|---|
6868304 | 680757 | 2014 | 10 صفحه PDF | دانلود رایگان |
عنوان انگلیسی مقاله ISI
Tri-pyramid Robot: Design and kinematic analysis of a 3-DOF translational parallel manipulator
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کلمات کلیدی
موضوعات مرتبط
مهندسی و علوم پایه
مهندسی کامپیوتر
هوش مصنوعی
پیش نمایش صفحه اول مقاله
چکیده انگلیسی
3-DOF translational parallel manipulators have been developed in many different forms, but they still have respective disadvantages in different applications. To overcome their disadvantages, the structure and constraint design of a 3-DOF translational parallel manipulator is presented and named the Tri-pyramid Robot. In the constraint design of the presented manipulator, a conical displacement subset is defined based on displacement group theory. A triangular pyramidal constraint is presented and applied in the constraint designs between the manipulator׳s subchains. The structural properties including the decoupled motions, overconstraint elimination, singularity free workspace, fixed actuators and isotropic configuration are analyzed and compared to existing structures. The Tri-pyramid Robot is constrained and realized by a minimal number of 1-DOF joints. The kinematic position solutions, workspace with variation of structural parameters, Jacobian matrix, isotropic and dexterity analysis are performed and evaluated in the numerical simulations.
ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Robotics and Computer-Integrated Manufacturing - Volume 30, Issue 6, December 2014, Pages 648-657
Journal: Robotics and Computer-Integrated Manufacturing - Volume 30, Issue 6, December 2014, Pages 648-657
نویسندگان
Qiang Zeng, Kornel F. Ehmann, Jian Cao,