Design and Analysis of a Single-input Three-DOF Parallel Manipulator

摘要：

　　In order to solve the problem that the existing parallel manipulator is expensive,complicated design and complicated control,this paper designs a three-degree-of-freedom parallel manipulator with cam-driven single power input.The manipulator is cheap and widely used.And then its kinematics research.The freedom degree analysis of the manipulator is completed,and the kinematics is obtained.And then use the positive and negative solution to complete the cam parameter design.Finally,the kinematics simulation with Pro/E verifies the correctness of the design.Which provides the theoretical basis for the speed of the manipulator,the establishment of the acceleration model,the workspace and the singularity analysis.

关键词： parallel manipulator cam kinematics analysis kinematics simulation

作者: Xiao-yu Han Zheng-hao Ge kai Zhang Zhilong Wang

作者单位: Shaanxi University of Science &Technology,Xian710021,China

会议类型: 国际会议

会议名称: 2017 IEEE 3rd Information Technology and Mechatronics Engineering Conference(ITOEC2017)(2017 IEEE 第3届信息技术与机电一体化工程国际学术会议)

会议地点: 重庆

会议语种:英文

页码: 324-328

在线出版日期: 2017-10-03（万方平台首次上网日期，不代表论文的发表时间）