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Research on 2-Dof Parallel Robot and its Motion Characteristics

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Abstract:

A novel robot, derived from a planar parallel mechanism, is presented. With two sliders driving on the same side of parallel guide rails, this simple but practical mechanism is capable of realizing a large workspace. The direct and inverse kinematical solutions are given. The simulation demonstrates that all kinds of straight lines and circles can be realized by the end actuator of the robot; the corresponding motion disciplines and characteristics driven by the two sliders are analyzed; the results are verified on the prototype. By allowing the end actuator to move in Z-direction or to rotate around A or B-axis, three-, four-, five-axis manipulator would be composed and surface welding and space cutting would be realized. This paper lays the foundation for the real-time control and industrial application of this novel robot.

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Periodical:

Advanced Materials Research (Volumes 139-141)

Pages:

2203-2206

DOI:

https://doi.org/10.4028/www.scientific.net/AMR.139-141.2203

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Online since:

October 2010

Authors:

Hui Ping Shen, Lei Ding, Chang Yu Xue, Ju Li, Jia Ming Deng, Shan Shu Liu

Keywords:

Kinematical Analysis, Parallel Manipulator, Parallel Mechanism

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© 2010 Trans Tech Publications Ltd. All Rights Reserved

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