Kinematics Analysis of a New Spatial 3-DOF Parallel Mechanism
Publish place: 13th Annual Conference of Mechanical Engineering
Publish Year: 1384
نوع سند: مقاله کنفرانسی
زبان: English
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شناسه ملی سند علمی:
ISME13_649
تاریخ نمایه سازی: 21 اسفند 1385
Abstract:
This paper proposes a new spatial 3-DOF (two degrees of translational freedom and one degree of rotational freedom) parallel mechanism. The parallel mechanism is a variation to the 3-DOF manipulator proposed in [1] and consists of a fixed base plate, a mobile platform, and three connecting legs. The inverse and forward kinematics problems are described in closed forms. The velocity equations and Jacobian matrices are
obtained and three kinds of singularities are also discussed in detail. The workspace for the mechanism is analyzed systematically. Finally a numerical example is presented. We believe this mechanism could have wide application in the fields of industrial robots, simulators and parallel machine tools.
Keywords:
Spatial 3-DOF Parallel Mechanism - Inverse and Forward Kinematics - Singularity - Workspace
Authors
Zakerzadeh
Graduate Student of Mechanical Engineering, Sharif University of Technology Tehran, IRAN
Tavakoli
Graduate Student of Mechanical Engineering, Sharif University of Technology Tehran, IRAN
Pendar
Graduate Student of Mechanical Engineering, Sharif University of Technology Tehran, IRAN
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