论文信息 - Kinematics and workspace of 3-RUU parallel manipulator

Kinematics and workspace of 3-RUU parallel manipulator

Kinematics design of a lower-DOF parallel robot parallel, a 3-UUR pure rotational parallel manipulator, is presented. We first analyzed the instantaneous motions of 3-RUU parallel robot at initial configuration by reciprocal screw, after the inverse kinematics and forward kinematics are analyzed. At the basis on the kinematics, the workspace of parallel robot is presented in the paper. The main influences for the workspace of parallel robot consist of circumscribed circle radius of fixed platform Ra, circumscribed circle radius of moving fixed platform Rb, length of connecting rod l and the angles Θ among connecting rod. The performances of such 3-RUU mechanisms are very different for different configurations. The curve of simulation which prove the academic analysis is given by Adams.

Xiaoguang Wang | Caiqiao Wei

[1] L. Tsai,et al. Kinematics and Optimization of a Spatial 3-UPU Parallel Manipulator , 2000 .

[2] Marco Carricato,et al. A Family of 3-DOF Translational Parallel Manipulators , 2003 .

[3] C. Gosselin,et al. Type Synthesis of 3-DOF Spherical Parallel Manipulators Based on Screw Theory , 2004 .

[4] Yuefa Fang,et al. Structure synthesis of a class of 3-DOF rotational parallel manipulators , 2004, IEEE Transactions on Robotics and Automation.

[5] Lung-Wen Tsai,et al. Mechanism Design: Enumeration of Kinematic Structures According to Function , 2001 .

[6] Lung-Wen Tsai,et al. Comparison study of architectures of four 3 degree-of-freedom translational parallel manipulators , 2001, Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No.01CH37164).