Structural Design and Kinematics Analysis of a Uncoupled Translational Parallel Robotic Mechanism
An uncoupled spatial translational parallel robotic mechanism with three degrees of freedom (DOF) is presented, which is composed of a moving platform connected to a fixed platform by three identical kinematic chains. Based on the screw theory, the kinematic output characteristic of the mechanism is...
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| Format: | Article |
| Language: | zho |
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Editorial Office of Journal of Mechanical Transmission
2019-08-01
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| Series: | Jixie chuandong |
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| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2019.08.017 |
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| _version_ | 1841548845124681728 |
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| author | Xi Mao Yanbin Zhang Yifu Zhao |
| author_facet | Xi Mao Yanbin Zhang Yifu Zhao |
| author_sort | Xi Mao |
| collection | DOAJ |
| description | An uncoupled spatial translational parallel robotic mechanism with three degrees of freedom (DOF) is presented, which is composed of a moving platform connected to a fixed platform by three identical kinematic chains. Based on the screw theory, the kinematic output characteristic of the mechanism is analyzed. The analytical expressions of position, velocity and acceleration are derived. The form of Jacobian matrix is 3×3 diagonal, so it reveals that the inputs of the actuated joints and outputs of the moving platform satisfy one-to-one corresponding relationship, respectively. Then, the kinematic simulation of this parallel mechanism is carried out by Matlab and SolidWorks software, and the position, velocity and acceleration curves are described as well. The simulation results show that the theoretical analysis is correct. Finally, singularity and its workspace are discussed respectively. |
| format | Article |
| id | doaj-art-9497c32313aa4205b0ae833d78ce7fe3 |
| institution | Kabale University |
| issn | 1004-2539 |
| language | zho |
| publishDate | 2019-08-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj-art-9497c32313aa4205b0ae833d78ce7fe32025-01-10T13:59:16ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392019-08-0143929730643834Structural Design and Kinematics Analysis of a Uncoupled Translational Parallel Robotic MechanismXi MaoYanbin ZhangYifu ZhaoAn uncoupled spatial translational parallel robotic mechanism with three degrees of freedom (DOF) is presented, which is composed of a moving platform connected to a fixed platform by three identical kinematic chains. Based on the screw theory, the kinematic output characteristic of the mechanism is analyzed. The analytical expressions of position, velocity and acceleration are derived. The form of Jacobian matrix is 3×3 diagonal, so it reveals that the inputs of the actuated joints and outputs of the moving platform satisfy one-to-one corresponding relationship, respectively. Then, the kinematic simulation of this parallel mechanism is carried out by Matlab and SolidWorks software, and the position, velocity and acceleration curves are described as well. The simulation results show that the theoretical analysis is correct. Finally, singularity and its workspace are discussed respectively.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2019.08.017Parallel robotic mechanismUncoupledKinematics analysisSingular configurationWorkspace |
| spellingShingle | Xi Mao Yanbin Zhang Yifu Zhao Structural Design and Kinematics Analysis of a Uncoupled Translational Parallel Robotic Mechanism Jixie chuandong Parallel robotic mechanism Uncoupled Kinematics analysis Singular configuration Workspace |
| title | Structural Design and Kinematics Analysis of a Uncoupled Translational Parallel Robotic Mechanism |
| title_full | Structural Design and Kinematics Analysis of a Uncoupled Translational Parallel Robotic Mechanism |
| title_fullStr | Structural Design and Kinematics Analysis of a Uncoupled Translational Parallel Robotic Mechanism |
| title_full_unstemmed | Structural Design and Kinematics Analysis of a Uncoupled Translational Parallel Robotic Mechanism |
| title_short | Structural Design and Kinematics Analysis of a Uncoupled Translational Parallel Robotic Mechanism |
| title_sort | structural design and kinematics analysis of a uncoupled translational parallel robotic mechanism |
| topic | Parallel robotic mechanism Uncoupled Kinematics analysis Singular configuration Workspace |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2019.08.017 |
| work_keys_str_mv | AT ximao structuraldesignandkinematicsanalysisofauncoupledtranslationalparallelroboticmechanism AT yanbinzhang structuraldesignandkinematicsanalysisofauncoupledtranslationalparallelroboticmechanism AT yifuzhao structuraldesignandkinematicsanalysisofauncoupledtranslationalparallelroboticmechanism |