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Kinematic Transmission Analysis of a Novel Spherical 3-RRR Parallel Manipulator

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Abstract:

The kinematic transmission property and distributions in workspace of a novel spherical 3-RRR parallel mechanism are given. The orthogonal layout feature of the parallel mechanism is described. The equations for inverse displacement and kinematic transmission property are derived by the relation of geometry. The kinematic transmission evaluation index of a spherical 3-RRR parallel mechanism is defined. Finally, the distribution of the index in workspace was given, which can provide theoretical basis for the application of the spherical mechanism.

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Info:

Periodical:

Advanced Materials Research (Volumes 926-930)

Pages:

3513-3516

DOI:

https://doi.org/10.4028/www.scientific.net/AMR.926-930.3513

Citation:

Cite this paper

Online since:

May 2014

Authors:

Liang Zhang*, Zhen Lin Jin

Keywords:

Conditioning Number, Evaluation Index, Kinematic Transmission, Spherical Parallel Mechanism

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© 2014 Trans Tech Publications Ltd. All Rights Reserved

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