A New Type of Parallel Robot Manipulator Kinematics Simulation and Analysis of Movement Characteristics
Kinematics simulation and characteristics of a new type of parallel robot manipulator (PRM) with two-dimension movement and one-dimension rotation are analyzed. The new PRM is proved to can realize expected movement, and have smooth movement curves of displacement and velocity. The moving platform center of the PRM can achieve a wide range of swing, and has a larger working space. According to the kinematics theory, the working space and singularity characteristic are analyzed. Simulation and analysis indicated that the working space of the new PRM in the form and position is not singular, and has good maneuverability, thus providing the foundation for practice application and product exploitation.
Kai Cheng, Yongxian Liu, Xipeng Xu and Hualong Xie
J. M. Luo et al., "A New Type of Parallel Robot Manipulator Kinematics Simulation and Analysis of Movement Characteristics", Applied Mechanics and Materials, Vols. 16-19, pp. 1294-1298, 2009