Proposal of Link Composition for Rotational Parallel Mechanism with Pin Joints and Investigation of Movable Area
Proposal of Link Composition for Rotational Parallel Mechanism with Pin Joints and Investigation of Movable Area
复制标题
销关节旋转并联机构连杆结构的提出及可动区域的研究
DOI：
10.20965/ijat.2012.p0004
复制
发表时间：
2012
影响因子：
1.1
通讯作者：
Y. Okamura
中科院分区：
文献类型：
--
作者：
K. Okawa;Y. Okamura
本文介绍了一种用于销关节并联机构的连杆组合方案。一般的球关节并联机构由于关节角度的限制，其最大倾斜角度约为55度。为此，提出了一种用大活动角销关节代替球关节的新型并联机构。此外，提出了外部型、内部型和组合型三种链接结构。通过对这三种类型的传输指标进行研究，可知组合类型能够在最广的范围内移动。通过模拟和实验证实能够将末端执行器的倾斜角度移动到90度，并显示了有效性。
This paper describes that a proposal of link composition for a parallel mechanism with pin joints. The maximum angle of inclination by the general parallel mechanism with ball joints is about 55 degrees because of limitations of angle of those joints. Therefore, a novel parallel mechanism that replaced ball joints by the pin joints with wide movable angle is proposed. Moreover, three kinds of link composition that are an outside type, an inside type and a combination type are proposed. The transmission index is investigated about these three types, therefore it has been understood that the combination type is able to move in the widest area. It was confirmed to be able to move the inclination angle of the end effector to 90 degrees by simulations and experiments, and showed the effectiveness.
DOI：
10.1109/70.56660
发表时间：
1990-06-01
期刊：
IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION
影响因子：
--
作者：
GOSSELIN, C;ANGELES, J
通讯作者：
ANGELES, J