Kinematic analysis of a novel 2(3-RUS) parallel manipulator
Kinematic analysis of a novel 2(3-RUS) parallel manipulator
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DOI：
10.1017/s0263574714002860
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发表时间：
2015-01
期刊：
影响因子：
2.7
通讯作者：
R. E. Sánchez-Alonso;José-Joel González-Barbosa;E. C. Castañeda;J. Gallardo-Alvarado
中科院分区：
文献类型：
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作者：
R. E. Sánchez-Alonso;José-Joel González-Barbosa;E. C. Castañeda;J. Gallardo-Alvarado
本文介绍了一种新型的6自由度并联机器人，它是由两个3-罗斯并联机器人共享一个共同的三维移动平台。半解析形式的解决方案很容易得到解决的机器人使用非平面几何的移动平台的前向位移分析，而速度，加速度和奇异性分析使用螺旋理论进行。包括一个案例研究，以显示应用的运动学模型，这是验证与商业可用的软件的帮助。简单的运动学分析和减少奇异区域的建议并联机器人的主要好处。
SUMMARY This paper introduces a novel 6-DOF parallel manipulator, which is composed of two 3-RUS parallel manipulators that share a common three-dimensional moving platform. Semi-analytical form solutions are easily obtained to solve the forward displacement analysis of the robot using the non-planar geometry of the moving platform, whereas the velocity, acceleration, and singularity analyses are performed using screw theory. A case study is included to show the application of the kinematic model, which is verified with the aid of a commercially available software. Simple kinematic analysis and reduced singular regions are the main benefits of the proposed parallel manipulator.