Configuration Design and Kinematic Analysis on Some New 2R1T 3-DOF Parallel Robots

Abstract:

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Based on the screw theory,the paper presents a systematic method for structural synthesis of the two rotations and one translation parallel robot.According to the reciprocal product between kinetic screw and constrainted screw in screw theory.This method firstly creats possible branch structures and then generates diferent models of mechanism.By this method,the paper carries on the structural synthesis of the two rotations and one translation parallel robot,and also lists some of the mechanisms including a few new ones. Analyzsis solution of direct and inverse position.The dynamic simulation was conducted using the software of Adams.

Info:

Periodical:

Key Engineering Materials (Volumes 474-476)

Edited by:

Garry Zhu

Pages:

840-845

DOI:

10.4028/www.scientific.net/KEM.474-476.840

Citation:

D. C. Zhu et al., "Configuration Design and Kinematic Analysis on Some New 2R1T 3-DOF Parallel Robots", Key Engineering Materials, Vols. 474-476, pp. 840-845, 2011

Online since:

April 2011

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Price:

$35.00

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