Analysis of Position and Workspace for 4-PTT Parallel Mechanism

摘要：

An original 4-PTT parallel mechanism with three-dimensional translations and one rotational motion about Z axis was presented. Its positional inverse modals were set up by using the conversion of coordinates and projection in analytic geometry, and the method of the forward solution of the mechanism and corresponding numerical examples were given. The workspace of standing pose was analyzed by programming with MATLAB and LabVIEW. The research indicated that the workspace of the 4-PTT parallel mechanism has advantages of smooth boundary, big volume, no cavity and regular cross section in the fields of industrial robots, micromanipulators, virtual axis machine tools, damping platform, rehabilitation robot and etc.

关键词： Parallel mechanism Position analysis Workspace

作者: WANG Kejie GUO Zonghe

作者单位: School of Mechanical Engineering, Shandong University of technology, Shandong 255091

会议类型: 国际会议

会议名称: 2008 International Conference on IAEA(2008农业信息化、自动化与电气化国际会议)

会议地点: 镇江

会议语种:英文

页码: 223-229

在线出版日期: 2008-11-01（万方平台首次上网日期，不代表论文的发表时间）