Kinematic analysis on spatial rotation 4-SPS-1-S parallel manipulator with a passive constraining spherical joint
This paper proposes a new parallel manipulator with three purely rotational degrees of freedom, which consists of four SPS active legs and one passive constraining leg. The passive leg is introduced into this new parallel manipulator in to increase load capacity, stiffness and reliability of the structure, and to eliminate any redundant motion. Kinematic analysis of the manipulator is presented, including inverse position analysis and velocity mapping equations. Kinematic simulation on the mechanism is conducted using MATLAB software. Kinematic control strategies are proposed based on simulation results. The parallel manipulator can be applied to precise positioning tasks under heavy-loading conditions, and is of great importance in engineering application.
parallel manipulator kinematics inverse position analysis velocity mapping equation mechanism simulation
Yanwei Zhang Guohua Cui
College of the Mechanical and Electric Engineering HeBei Engineering University Handan,HeBei Province,056038,China
国际会议
上海
英文
1756-1760
2009-11-20（万方平台首次上网日期，不代表论文的发表时间）