Kinematics for a 2-DOF Parallel Manipulator
Various planar motion curves are commonly seen in industrial operations. The particular requirements are not only imposed on the displacements (straight line, circle, curve) but also on the dynamics (velocity, acceleration). A novel planar parallel mechanism, whose actuation point is located between two parallel guide rails, is presented in this paper. This simple but practical mechanism is capable of realizing a large workspace. The direct and inverse kinematical solutions are given. The simulation demonstrates that all kinds of straight lines and circles can be realized by the end actuator of the mechanism; the corresponding motion disciplines and characteristics driven by the two sliders are analyzed. This paper lays the foundation for the real-time control and industrial application of the 2-DOF parallel manipulator.
Parallel Mechanism Kinematic Analysis and Synthesis Parallel Guide Rail
Huiping Shen Changyu Xue Lei Ding Jiaming Deng Shanshu Liu Ju Li Yixing Jiang
School of the Mechanical and Energy Engineering Changzhou University Changzhou, Jiangsu Province 213016, China
国际会议
浙江义乌
英文
1351-1356
2010-11-17（万方平台首次上网日期，不代表论文的发表时间）