论文信息 - A Family of 2R1T Parallel Manipulators with Intersecting Rotational Axes

A Family of 2R1T Parallel Manipulators with Intersecting Rotational Axes

A family of 2R1T parallel manipulators (PMs) with intersecting rotational axes is proposed. The PMs of this family have identical kinematics although they are different in structure arrangement. The Jabobian matrices of the PMs of this family are established. The kinematic identical property of the PMs of this family is revealed based on analyzing their Jacobian. The common inverse and forward kinematics of the proposed PMs are derived in the closed form.

Bo Hu | Zhen Huang

[1] T. Shiau,et al. Direct kinematic analysis of a 3-PRS parallel mechanism , 2003 .

[2] Qinchuan Li,et al. Theory of Parallel Mechanisms , 2012 .

[3] Qingsong Xu,et al. Kinematic analysis of a 3-PRS parallel manipulator , 2007 .

[4] Bo Hu,et al. A Comparison Study of Two 3-UPU Translational Parallel Manipulators , 2013 .

[5] Z. M. Bi,et al. Energy Modeling of Machine Tools for Optimization of Machine Setups , 2012, IEEE Transactions on Automation Science and Engineering.

[6] Clément Gosselin,et al. Kinetostatic Analysis and Design Optimization of the Tricept Machine Tool Family , 2002 .

[7] K. H. Hunt,et al. Structural Kinematics of In-Parallel-Actuated Robot-Arms , 1983 .

[8] Yuefa Fang,et al. Analysis of instantaneous motions of deficient-rank 3-RPS parallel manipulators , 2002 .

[9] N. Pullman. Matrix theory and its applications , 1976 .

[10] Yi Lu,et al. Unification and simplification of velocity/acceleration of limited-dof parallel manipulators with linear active legs , 2008 .