Configuration Design and Displacement Analysis of a Novel Decoupled 3T2R Parallel Robot

Abstract:

Based on the control decoupled principle and approach of Position and Orientation Characteristic (in short, POC) set, a novel decoupled parallel robot with 3-Translation and 2-Rotation (in short, 3T2R) outputs has been presented in the paper. And the topological structure of this new mechanism is fully decoupled, which have the advantages of easily control, simple kinematic analysis, and so on. Then the structure and displacement analysis of this novel parallel robot have been accomplished. The research provides theoretical basis for design and practical applicability of this novel parallel robot.

• Periodical: Advanced Materials Research (Volumes 308-310)
• Pages: 2037-2041
• DOI: https://doi.org/10.4028/www.scientific.net/AMR.308-310.2037
• Online since: August 2011
• Authors: Zhi Xin Shi, Mei Yan Ye
• Keywords: Configuration Design, Decoupled Parallel Robot, Displacement Analysis

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