Kinematic Analysis of a New Two-Limb Parallel Sch?nflies-motion Generator Considering Isotropic Configuration
This paper presents a new two-limb parallel Sch?nflies-motion generator,which adopts a pair of al-ternative spatial modules equivalent to the parallelogram structure.This modular architecture can ensure the enhanced stiffness of the manipulator normal to the motion of the planar parallelogram structure due to the trapezoidal architecture.The preliminary kinematic problems,namely,the mobility,forward/inverse geometry and singularity,are studied as well as the kinematic isotropy.A neutral isotropic configuration of the robot is identified for the structural design of the link lengths.
Guanglei Wu Huiping Shen
School of Mechanical Engineering,Dalian University of Technology,116024 Dalian,China School of Mechanical Engineering,Changzhou University,213016 Changzhou,China
国内会议
北京
英文
321-329
2018-08-02（万方平台首次上网日期，不代表论文的发表时间）