| Autor: |
Baokun Li, Meng Si Liu, Clément Gosselin, Jian Chun Sun, Qiu Ju Zhang, Yi Cao |
| Rok vydání: |
2012 |
| Předmět: |
|
| Zdroj: |
Applied Mechanics and Materials. :1090-1095 |
| ISSN: |
1662-7482 |
| DOI: |
10.4028/www.scientific.net/amm.155-156.1090 |
| Popis: |
It is known that two primary disadvantages of parallel manipulators are the complicated forward kinematics and limited workspace. This paper mainly addressed the kinematics and workspace analyses of a 3/3-RRRS 6-DOF parallel manipulator. After a brief introduction of the 3/3 -RRRS 6-DOF parallel manipulator, a three-dimensional model and its relevant structure diagram are constituted, the forward and inverse displacement analyses of the 3/3-RRRS parallel manipulator are discussed in detail, especially, a novel geometrical method referred as equivalent mechanism is proposed for the forward displacement analysis of the manipulator under consideration. Based on the displacement analyses of the manipulator, a discretization method is proposed for the computation of the reachable position/orientation workspace of the 3/3-RRRS parallel manipulator, respectively. Examples of a 3/3-RRRS parallel manipulator are given to demonstrate these theoretical results. |
| Databáze: |
OpenAIRE |
| Externí odkaz: |
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