Topological Synthesis of Fully Decoupled Parallel Manipulators by Screw Formulation of Jacobian Matrix

Abstract:

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A family of spherical parallel mechanisms which have fully decoupled motions is presented in this paper. The condition required for synthesizing the fully decoupled parallel mechanism is derived from the screw formulation of Jacobian matrix. According to this condition, several novel decoupled spherical parallel mechanisms are obtained. The decoupled motions are validated by the simulation of the prototype of spherical parallel mechanism.

Info:

Periodical:

Advanced Materials Research (Volumes 189-193)

Edited by:

Zhengyi Jiang, Shanqing Li, Jianmin Zeng, Xiaoping Liao and Daoguo Yang

Pages:

1409-1412

DOI:

10.4028/www.scientific.net/AMR.189-193.1409

Citation:

F. Zhang et al., "Topological Synthesis of Fully Decoupled Parallel Manipulators by Screw Formulation of Jacobian Matrix", Advanced Materials Research, Vols. 189-193, pp. 1409-1412, 2011

Online since:

February 2011

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Price:

$35.00

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