Mechanism design of a simplified 6-DOF 6-RUS parallel manipulator
作者： Xin-Jun Liu , Jinsong Wang , Feng Gao , Li-Ping Wang
DOI: 10.1017/S0263574701003654
关键词:
摘要: This paper concerns the issue of mechanism design a simplified 6-DOF 6-RUS parallel manipulator. The robotic mechanisms, especially for manipulators, is an important and challenging problem in field robotics. presents method which based on physical model solution space. space, can transfer multi-dimensional to two or three-dimensional one, useful tool obtain all kinds performance atlases. In this paper, space spatial (R stands revolute joint, U universal joint S spherical joint) manipulators established. atlases performances, such as workspace global conditioning index, are plotted manipulators. technique used be applied other robots.
acm.org
sci-hub.se 参考文章(17)
Feng Gao, Xinjun Liu, William A. Gruver, Performance evaluation of two-degree-of-freedom planar parallel robots Mechanism and Machine Theory. ,vol. 33, pp. 661- 668 ,(1998) , 10.1016/S0094-114X(97)00102-X
J-P. Merlet, DEMOCRAT: A DEsign MethOdology for the Conception of Robots with parallel ArchiTecture Robotica. ,vol. 15, pp. 367- 373 ,(1997) , 10.1017/S0263574797000453
K.C. Gupta, On the nature of robot workspace The International Journal of Robotics Research. ,vol. 5, pp. 112- 121 ,(1986) , 10.1177/027836498600500212
Atul Bajpai, Bernard Roth, Workspace and mobility of a closed-loop manipulator The International Journal of Robotics Research. ,vol. 5, pp. 131- 142 ,(1986) , 10.1177/027836498600500214
Yukio TAKEDA, Hiroaki FUNABASHI, Hironobu ICHIMARU, Development of Spatial In-Parallel Actuated Manipulators with Six Degrees of Freedom with High Motion Transmissibility. Jsme International Journal Series C-mechanical Systems Machine Elements and Manufacturing. ,vol. 40, pp. 299- 308 ,(1997) , 10.1299/JSMEC.40.299
Charles A. Klein, Bruce E. Blaho, Dexterity measures for the design and control of kinematically redundant manipulators The International Journal of Robotics Research. ,vol. 6, pp. 72- 83 ,(1987) , 10.1177/027836498700600206
M. Thomas, H. C. Yuan-Chou, D. Tesar, Optimal Actuator Sizing for Robotic Manipulators Based on Local Dynamic Criteria Journal of Mechanisms, Transmissions, and Automation in Design. ,vol. 107, pp. 163- 169 ,(1985) , 10.1115/1.3258705
E.F. Fichter, A Stewart-Platform based manipulator: general theory and practical construction The International Journal of Robotics Research. ,vol. 5, pp. 157- 182 ,(1986) , 10.1177/027836498600500216
M. Griffis, J. Duffy, A forward displacement analysis of a class of stewart platforms Journal of Robotic Systems. ,vol. 6, pp. 703- 720 ,(1989) , 10.1002/ROB.4620060604
C. Gosselin, J. Angeles, A Global Performance Index for the Kinematic Optimization of Robotic Manipulators Journal of Mechanical Design. ,vol. 113, pp. 220- 226 ,(1991) , 10.1115/1.2912772