Mobility and kinematic analysis of a parallel mechanism with both PPR and planar operation modes
Mobility and kinematic analysis of a parallel mechanism with both PPR and planar operation modes
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DOI：
10.1016/j.mechmachtheory.2012.04.004
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发表时间：
2012-09
影响因子：
5.2
通讯作者：
M. Ruggiu;X. Kong
中科院分区：
文献类型：
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作者：
M. Ruggiu;X. Kong
提出了一种同时具有PPR和平面操作方式的1-RPU-2-UPU并联机器人。利用螺旋理论分析了并联机器人动平台在两种工作模式下的运动情况。该并联机械手具有3个自由度，并允许移动平台在平面操作模式下沿平面移动，并在PPR操作模式下绕沿平面平移的轴旋转。文中还讨论了通过过渡配置实现两种运行模式之间的过渡。然后用矢量法对该并联机器人进行了正、逆运动学分析和奇异性分析。最后，给出了并联机器人在两种工作模式下的恒位向工作空间和可达工作空间。
This paper proposes a 1-RPU-2-UPU parallel manipulator with both PPR and planar operation modes. The mobility of the moving platform of the parallel manipulator in the two operational modes is analyzed via screw theory. The parallel manipulator has 3 degrees-of-freedom and allows the moving platform to move along a plane in the planar operation mode and to rotate about an axis that translates along a plane in the PPR operation mode. The transition between the two operational modes through transitional configurations is also discussed. The inverse and forward kinematic analysis and singularity analysis of the parallel manipulator are then dealt with by a vector approach. Finally, the constant orientation workspace and the reachable workspace are presented for the parallel manipulator in both operation modes.