Analysis and simulation of kinematic characteristic to 3PSS parallel robot mechanism

Author

Hao, Xiuqing ; Hu, Fusheng ; Zhao, Guixiang

Author_Institution

Sch. of Mech. Eng., Shandong Univ. of Technol., Jinan

fYear

2006

fDate

17-19 Nov. 2006

Firstpage

1

Lastpage

6

Abstract

3PSS parallel mechanism is one of the most utility outlook mechanisms among the parallel mechanism, but analysis and development to it is too inadequate. In this paper, analysis of the structure and degrees of freedom to it have been done, the inverse solution to the position analysis of the mechanism was solved by closed method and the forward solution to the position analysis was solved by numerical method. The singularity and the velocity of the mechanism were analyzed by Jacobian matrix, and the simulation of it was done, this established a good foundation for the determination of the work rule and the path-planning of 3PSS parallel mechanism

Keywords

Jacobian matrices; parallel machines; path planning; robot kinematics; 3PSS parallel robot mechanism; Jacobian matrix; degree-of-freedom; kinematic characteristics; position analysis; Analytical models; Heating; Information analysis; Interference; Jacobian matrices; Kinematics; Mechanical engineering; Parallel machines; Parallel robots; Path planning;

fLanguage

English

Publisher

ieee

Conference_Titel

Computer-Aided Industrial Design and Conceptual Design, 2006. CAIDCD '06. 7th International Conference on

Conference_Location

Hangzhou

Print_ISBN

1-4244-0683-8

Electronic_ISBN

1-4244-0684-6

Type

conf

DOI

10.1109/CAIDCD.2006.329424

Filename

4127053