Title :
A study on less DOF parallel mechanism based on 3-RRRT parallel manipulator
Author :
Huang Weiming ; Zhao Xinhua ; Yang Yuwei ; Li Peng
Author_Institution :
Sch. of Mech. Eng., Tianjin Univ. of Technol., Tianjin, China
Abstract :
In this paper, to exploring the less d.o.f parallel manipulator, the authors choose the 3-RRRT parallel manipulator as researching object, build a D-H coordinate system after reasonable analysis with the thought of virtual link, and then establish a mathematical model of kinematic by using the method of Homogeneous Coordinate Transformation. The direct and inverse solutions will be obtained by using the MATLAB software. At last, the solutions and the mathematical model will be proved right with PRO / E software.
Keywords :
manipulator kinematics; 3-RRRT parallel manipulator; D-H coordinate system; DOF parallel manipulator; MATLAB software; PRO/E software; homogeneous coordinate transformation; kinematic; mathematical model; virtual link; Kinematics; MATLAB; Manipulators; Mathematical model; Mobile communication; Solid modeling; Homogeneous Coordinate Transformation; Less DOF Parallel Manipulator; Numerical Simulation;
Conference_Titel :
Mechatronics and Automation (ICMA), 2014 IEEE International Conference on
Conference_Location :
Tianjin
Print_ISBN :
978-1-4799-3978-7
DOI :
10.1109/ICMA.2014.6885845
