Structure Synthesis of 3r2t 5-Dof Symmetrical Parallel Robot Mechanisms

摘要：

Using screw theory, motion properties and constraint conditions for 5-DOF parallel manipulators structural platform is analyzed, and the relationship between screw and reciprocal screw of structural platform are established. All possible limbs of force constraints are derived, and structure synthesis for low -DOF parallel robot mechanisms is advanced. Finally, a parallel manipulator with 3-rotation-DOF and 2-translation-DOF is used as an example to describe the synthesis procedure for symmetrical and non-symmetrical 5-DOF parallel manipulators.

关键词： Screw theory Robot Parallel mechanisms Structure synthesis

作者: HaiRong Fang YueFa Fang ZhunQing Hu Shuo Wang

作者单位: School of Mechanical and Electronic Control Engineering, Beijing Jiaotong University Beijing 100044, China

会议类型: 国际会议

会议名称: 2006 International Symposium on Distributed Computing and Applications to Business,Engineering and Science(2006年国际电子、工程及科学领域的分布式计算应用学术研讨会)

会议地点: 杭州

会议语种:英文

页码: 998-1001

在线出版日期: 2006-10-12（万方平台首次上网日期，不代表论文的发表时间）