Position and Workspace Analysis of an 1T-2R Parallel Stable Platform Mechanism

摘要：

According to theory of the structure typesynthesis of parallel robot mechanism,a spatial parallelstable platform mechanism with one translation and tworotation is proposed. Based on POC set and SOC unit,atopology structure characteristics analysis and positionanalysis are given. Its forward and inverse positionequations are established. And the decouplity analysis andsingular configuration analysis are also given. There is aworkspace analysis at last. This mechanism is easy tocontrol and trajectory plan.

关键词： parallel robot mechanism POC set position analysis workspace

作者: Xing Chang Anxin Liu Lifeng Fang Tingli Yang

作者单位: PLA Univ of Sci & Tech Nanjing,China Sinopec Jinlin Petrochemical Co.Nanjing,China

会议类型: 国际会议

会议名称: 第二届机器人与机电一体化国际学术会议

会议地点: 上海

会议语种:英文

页码: 1-4

在线出版日期: 2011-10-14（万方平台首次上网日期，不代表论文的发表时间）