Kinematic Design of a Translational Parallel Manipulator with Fine Adjustment of Platform Orientation
Kinematic Design of a Translational Parallel Manipulator with Fine Adjustment of Platform Orientation
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DOI：
10.1155/2010/485358
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发表时间：
2009-07
影响因子：
2.1
通讯作者：
M. Tanabe;Y. Takeda
中科院分区：
文献类型：
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作者：
M. Tanabe;Y. Takeda
提出了一种具有平台姿态微调能力的平动并联机器人的运动学设计。为了明确其可能的运动学结构，在三自由度平移和转动并联机构综合结果的基础上，进行了六自由度全解耦和部分解耦机构的结构综合。获得了所有可能的运动学结构。其中，一个部分解耦机构被选中，并完成了原型机械手的运动学设计。讨论了该平台的工作空间、奇异性、姿态调整能力、平移与旋转耦合特性，并给出了平台姿态微调能力的实验结果。
We present a kinematic design of a translational parallel manipulator with fine adjustment capability of platform orientation. In order to clarify possible kinematic structures for it, structural synthesis of fully decoupled mechanism and partially decoupled mechanism both with six degrees of freedom (dof) was carried out based on the synthesis results of translational and rotational parallel mechanisms with three dof. All possible kinematic structures were obtained. Of these, one partially decoupled mechanism was selected and a kinematic design of a prototype manipulator was done. Its characteristics in terms of workspace, singularity, orientation adjustment capability, and coupling characteristics between translational and rotational displacement were discussed with experimental results regarding fine adjustment capability of platform orientation.