DocumentCode
1679975
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
fYear
2010
Firstpage
6660
Lastpage
6665
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Control and Automation (WCICA), 2010 8th World Congress on
Conference_Location
Jinan
Print_ISBN
978-1-4244-6712-9
Type
conf
DOI
10.1109/WCICA.2010.5554158
Filename
5554158
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