Kinematics and Singularity Analysis of a Novel 1T2R Fully-decoupled Parallel Mechanism

摘要：

A novel three degree-of-freedom(DOF) fully-decoupled parallel mechanism(PM) with one-translational and two-rotational (1T2R) DOF is presented. First.the calculation of the DOF and the input selection are performed. Next, the direct and the inverse kinematic problems are analyzed. Finally, singularity conditions are discussed systematically based on the the direct and the inverse Jacobian matrices. The motion of the mechanism is fully decoupled for the Jacobian matrix being a triangular matrix. Thus, it is simpler in aspects of control and trajectory planning of the mechanism.

关键词： parallel mechanism fully-decoupled kinematics analysis singularity analysis

作者: Caixia Fan Hongzhao Liu Yanbin Zhang Caixia Fan

作者单位: Xian University of Technology Department of Mechanical and Precision Instrumental Engineering Xian Henan University of Science and Technology College of Electromechanical Engineering Luoyang,Henan, Jiaozuo University College of Electromechanical Engineering Jiaozuo,Henan,China

会议类型: 国际会议

会议名称: 2009 IEEE International Conference on Intelligent Computing and Intelligent Systems(2009 IEEE 智能计算与智能系统国际会议)

会议地点: 上海

会议语种:英文

页码: 1215-1219

在线出版日期: 2009-11-20（万方平台首次上网日期，不代表论文的发表时间）