Kinematic Analysis of a 3-Axis Parallel Manipulator: The P3
Kinematic Analysis of a 3-Axis Parallel Manipulator: The P3
复制标题
3 轴并联机械手的运动学分析：P3
DOI：
10.1155/2013/589156
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发表时间：
2013-01-01
影响因子：
2.1
通讯作者：
Li, Qinchuan
中科院分区：
文献类型：
--
作者：
Chen, Qiaohong;Chen, Zhi;Li, Qinchuan
本文对三轴并联机器人P3进行了运动学分析。P3并联机构基于3-PRRU并联机构，其中P为移动副，R为转动副，U为万向节。P3并联机器人可以进行两次旋转和一次平移，没有寄生运动。首先，简要介绍了P3。然后，导出了P3的正解和逆解。讨论了寄生运动。由速度方程得到雅可比矩阵。此外，还确定了P3的奇异构型。根据螺旋理论，还可以检测到驱动失效的特殊配置。研究了P3的工作空间。
This paper presents kinematic analysis of a 3-axis parallel manipulator, called P3. The P3 parallel manipulator is developed based on a 3-PRRU parallel mechanism, where P denotes prismatic pair, R revolute pair, and U universal joint. The P3 parallel manipulator can undergo two rotations and one translation without parasitic motion. First, a brief description of the P3 is presented. Then, forward and inverse kinematic solutions of the P3 are derived. Parasitic motion is discussed. The Jacobian matrix is obtained based on the velocity equations. Further, singular configurations of the P3 are identified. A special configuration where the actuation fails is also detected based on screw theory. The workspace of P3 is investigated.