Kinematics and Performances Analysis of the 3-CRC Translational Parallel Manipulator

摘要：

A novel translational parallel manipulator with three identical legs is presented. The mobility and the selection of the actuated joints of the manipulator are addressed based on the screw theory. The kinematic problems, singularity and dexterity of the mechanism are discussed according to the different actuation methods. When the rotary actuation method is adopted, the Jacobian matrix is similar to a 3×3 diagonal matrix, so the manipulator is an uncoupled one. While the linear actuation method is used, the Jacobian matrix is an identity 3×3 matrix and the manipulator is free singularity fully-isotropic throughout its entire workspace.

关键词： parallel manipulator kinematics analysis dexterity singularity

作者: Yanbin Zhang Hongyu Xu Xin Wu Qiang He

作者单位: College of Architecture Engineering Henan University of Science and Technology Luoyang, China Department of Mechanical Engineering Xian University of Technology Xian, China

会议类型: 国际会议

会议名称: 2009 Second International Conference on Intelligent Computation Technology and Automation(2009 第二届IEEE智能计算与自动化国际会议 ICICTA 2009)

会议地点: 长沙

会议语种:英文

页码: 3525-3528

在线出版日期: 2009-10-10（万方平台首次上网日期，不代表论文的发表时间）