Kinematic Analysis of a Novel Spatial Uncoupled Parallel Manipulator
A novel spatial parallel manipulator with twotranslational and one-rotational degrees of freedom is represented in this paper. The mobility of the mechanism is analyzed and computed by use of the screw theory. The direct and the inverse analytical position solutions are derived and the veloctiy analysis are addressed. Since the Jacobian matrix, mapping the input velocity vector of the actutated joints to the output vector of the moving platform, is a diagonal matrix, the manipulator is an uncoupled one. There exists one-to-one corresponding controlling relationship between oie of the input velocities and one of the output velocities. Therefore, the path planning and controlling design of the manipulator will be very sinple. Tn addition, the singularities of the manipulator are discussed based on the Jacobian matrix method.
parallel manipulatort kinematic analysis dgree of freedom singualrity
Yanbin Zhang Xiaoling He Xin Wu Guoliang Zhai
College of Planning and Architecture Engineering Henan University of Science and Technology Luoyang, Farmland Irrigation Research Institute Chinese Academy of Agricultural Sciences Xinxiang, China
国际会议
哈尔滨
英文
3345-3348
2011-08-12（万方平台首次上网日期，不代表论文的发表时间）