Kinematics and optimal design of a novel 3-DoF parallel manipulator for pick-and-place applications
Kinematics and optimal design of a novel 3-DoF parallel manipulator for pick-and-place applications
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用于拾放应用的新型 3 自由度并联机械手的运动学和优化设计
DOI：
10.1504/ijma.2013.055614
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发表时间：
2013-08
影响因子：
--
通讯作者：
Zexiang Li
中科院分区：
文献类型：
--
作者：
Bin Liao;Yunjiang Lou;Zexiang Li
In this paper, a novel 3-degree-of-freedom planar parallel manipulator, the V3 robot, is introduced. The manipulator consists of three revolute joint) subchains, which are respectively arranged in three-parallel planes. The three-actuated joints are designed to have a common rotation axis, which contributes the large workspace and unlimited rotational capability of the robot. The kinematics, including the loop-closure equations, the inverse kinematics, singularity, and workspace are briefly analysed. By directly considering the velocity and the accuracy indices for pick and place operations, the optimal design problem is formulated to maximise the good performance workspace, where lower bounds on the average extreme velocity and upper bounds on the average extreme error are applied as constraints. The optimal design shows greatly improved performance in workspace, velocity, and accuracy.
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DOI：
10.1109/robot.2001.932982
发表时间：
2001-05
期刊：
Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No.01CH37164)
影响因子：
--
作者：
Guilin Yang;I. Chen;Wei Lin;J. Angeles
通讯作者：
Guilin Yang;I. Chen;Wei Lin;J. Angeles
DOI：
--
发表时间：
1999-02
期刊：
--
影响因子：
--
作者：
L. W. Tsai
通讯作者：
L. W. Tsai
DOI：
--
发表时间：
1988
期刊：
--
影响因子：
--
作者：
R. Clavel
通讯作者：
R. Clavel
DOI：
10.1109/icra.2011.5979734
发表时间：
2011-05
期刊：
2011 IEEE International Conference on Robotics and Automation
影响因子：
--
作者：
M. Isaksson
通讯作者：
M. Isaksson
影响因子：
5.2
作者：
Chakarov, D
通讯作者：
Chakarov, D