Synthesis of Parallel Manipulator with Single DOF

摘要：

　　This paper proposed a new manipulator design concept which leads to a single DOFsystem.The system composed of a moving platform and several supporting legs.It can execute thetasks of 3D body guidance or path generation and thus replace expensive manipulators with highDOF in some conditions.There are mainly two steps in designing this manipulator.The first step istype synthesis to determine the number and types of legs.Dimensional synthesis is then executedbased on the movement requirements and geometrical constraints.In this study the reduction of theDOF is also analyzed for various legs added between the moving platform and the ground.Anumerical example of executing 3D body guidance is given to verify the proposed new concept.

关键词： parallel manipulator supporting leg body guidance pose

作者: Chung-huang Yu Wen-Yeuan Chung

作者单位: Department of Physical Therapy & Assistive Technology, National Yang-Ming University,155 Li-Nong St. Department of Mechanical Engineering, Chinese Culture University,55 Hwa-Kang Rd, Taipei 111, Taiwan

会议类型: 国际会议

会议名称: 2nd International Conference on Materials Engineering and Automatic Control (第二届材料工程与自动化控制国际会议)(ICMEAC2013)

会议地点: 济南

会议语种:英文

页码: 639-643

在线出版日期: 2013-05-18（万方平台首次上网日期，不代表论文的发表时间）