Paper Title:
Static Analysis for a Novel 6-(P-2P-S) Parallel Robot
  Abstract

A novel 6-(P-2P-S) parallel robot is put forward. With the characters of some movement decoupling on the orthogonal pose, the robot can be used as the macro manipulator of the macro/micro dual driven robots. The macro manipulator as a high-precision positioning device, it is significant for the practical application and drive train design to research statics. First, the force Jacobian matrix is deduced, which is related to the orientation parameters. Then based on the Jacobian matrix singular value decomposed characteristic, the static force transmission evaluation indicators Kf and Km are defined. Finally, considering structure constraints and parameters, the distribution of evaluation indicators in the orientation workspace is drawn, which provide the theoretical base for the design and applications of the robot. Because of the characters of simple structure, high carrying capacity, less motion inertia, good manufacturability, the 6-(P-2P-S) parallel macro manipulator has been designed.

  Info
Periodical
Advanced Materials Research (Volumes 69-70)
Edited by
Julong Yuan, Shiming Ji, Donghui Wen and Ming Chen
Pages
580-584
DOI
10.4028/www.scientific.net/AMR.69-70.580
Citation
D.F. Zhang, F. Gao, "Static Analysis for a Novel 6-(P-2P-S) Parallel Robot", Advanced Materials Research, Vols. 69-70, pp. 580-584, 2009
Online since
May 2009
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