کد مقاله کد نشریه سال انتشار مقاله انگلیسی نسخه تمام متن
803374 904639 2009 10 صفحه PDF دانلود رایگان
عنوان انگلیسی مقاله ISI
Kinematics analysis of a novel parallel manipulator
موضوعات مرتبط
مهندسی و علوم پایه سایر رشته های مهندسی مهندسی صنعتی و تولید
پیش نمایش صفحه اول مقاله
Kinematics analysis of a novel parallel manipulator
چکیده انگلیسی

A novel 3-DOF uncoupled spatial parallel manipulator is presented. Firstly, geometrical structure and mobility analysis of the manipulator are addressed. Then the forward and the inverse kinematic problems are analyzed, singularity analysis of the mechanism is performed based on the singular conditions of the inverse and the direct Jacobian matrices and the screw theory, fully-isotropic design is developed in virtue of the condition number of the Jacobian being identically equal to 1. Finally, a potential application of the mechanism is briefly described.

ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Mechanism and Machine Theory - Volume 44, Issue 9, September 2009, Pages 1648–1657
نویسندگان
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