Topology Synthesis and Classification of a Novel Family of Parallel Manipulator with 3-Dimension Translation and 1-Dimension Rotation

摘要：

Based on the single-open-chain method, a systematic and effective design process for structural synthesis of the 4-DOF (3T1R) parallel manipulator is given. And 12 promising 3T1R parallel manipulators with lower coupling degree are presented originally in this paper. Then, these manipulators are deliberately classified according to topological symmetry, the coupling degree, structure simplicity and simple manufacturing and assembling. In terms of different design requirements, the optimal manipulator is recommended. Lastly, a novel synthesized manipulator is applied to cooking robot.

作者: Yuan Chen Bing Li

作者单位: Shenzhen Graduate School,Harbin Institute of Technology,Shenzhen 518055 China and also with School o Shenzhen Graduate School,Harbin Institute of Technology,Shenzhen 518055 China and also with State Ke

会议类型: 国际会议

会议名称: 2009 IEEE International Conference on Information and Automation(2009年 IEEE信息与自动化国际学术会议)

会议地点: 珠海、澳门

会议语种:英文

页码: 212-217

在线出版日期: 2009-06-22（万方平台首次上网日期，不代表论文的发表时间）