Title :
Analysis of a new parallel robot
Author :
Wu, Mengli ; Wang, Liwen ; Zhang, Wei
Author_Institution :
Coll. of Airport Eng. & Manage., Civil Aviation Univ. of China, Tianjin, China
Abstract :
Aiming at handling the airplane structures, this paper deals with a new sub-6 DOF asymmetrical parallel mechanism, named “TAM”. The robot is a modified version of the SKM400. The innovation of the new parallel robot is systematically addressed. Both forward and inverse positions are analyzed. The condition number of the Jacobin and its mean value are used to evaluate the kinematic performance. It can be concluded that the proposed mechanism is competitive in aircraft industry.
Keywords :
aircraft; robot kinematics; Jacobin; TAM; aircraft industry; airplane structures; kinematic performance; mean value; parallel robot; sub-6 DOF asymmetrical parallel mechanism; Equations; Indexes; Jacobian matrices; Joints; Kinematics; Performance evaluation; Robots; Forward Position; Inverse Position; Kinematics; Parallel Kinematic Machines;
Conference_Titel :
Intelligent Control and Automation (WCICA), 2010 8th World Congress on
Conference_Location :
Jinan
Print_ISBN :
978-1-4244-6712-9
DOI :
10.1109/WCICA.2010.5554158
