Kinematics and Singularity of a 4-DOF Parallel Mechanism with Passive Spherical Joints

摘要：

　　This paper presents a 4-DOF (3T1R: three-translational and one rotational degrees of freedom) parallel mechanism with passive spherical joints,which has better stiffness than the other ones with just prismatic and revolute joints.Firstly,structure description is given.And a complete study regarding motion characteristics is done by analytical method.Then the kinematics of the 4-DOF parallel manipulator,which includes inverse and forward solutions,is studied in detail by numerical method.The Jacobian matrix of the parallel manipulator is also derived.Based on the Jacobian matrix,singularity analysis of the parallel mechanism has been described clearly.All prismatic actuators of the 4-DOF parallel manipulator are parallel to each other,enables it to have an independent Z motion— only limited by the stroke of the prismatic actuators.So the parallel manipulator has the identical performance along the direction of the actuated linear slides.The 4-DOF parallel manipulator is characterized by elevated dynamical capabilities having its actuators at base.

关键词： Parallel manipulator Motion characteristics Position analysis Singularity

作者: Binbin Peng Wenchen Zhen Xiangqian Wang Kaituo He Song FU

作者单位: School of Mechanical Engineering, Nanjing University of Science and Technology,Nanjing 210094, China

会议类型: 国际会议

会议名称: 2016中国机构与机器科学国际会议

会议地点: 广州

会议语种:英文

页码: 817-830

在线出版日期: 2016-12-15（万方平台首次上网日期，不代表论文的发表时间）