A Study on the kinematics of 2-DOF Parallel Manipulator
In this paper, a parallel manipulator is comprised of sliders and links. The end-effector has an orientation.-Sliders execute a linear motion along parallel guidelines and make the connected links rotate. We derived displacement, velocity and acceleration from kinematic analysis of this manipulator using direct and inverse kinematics, found constraint conditions and proposed the verification algorithm of constraint conditions. With the result from the simulation, we found that there was a local workspace where the manipulator cannot carry out a series of link motion.
Parallel Manipulator Direct Kinematics Inverse Kinematics Constraint Conditions
Jong Gyu Lee Sang Ryong Lee Choon Young Lee Seung Han Yang
Institute of Mechanical Engineering Technology, Kyungpook National University, South Korea School of Mechanical Engineering, Kyungpook National University, South Korea
国际会议
大连
英文
1487-1490
2011-10-19（万方平台首次上网日期，不代表论文的发表时间）