DocumentCode
1918819
Title
Computer-aided analysis of a 3-DoF parallel mechanismwith two translations and one rotation
Author
Yanfei, Zhang ; Jinliang, Gong ; Feng, Gao
Author_Institution
Coll. of Machinery Eng., Shandong Univ. of Technol., Zibo
fYear
2006
fDate
17-19 Nov. 2006
Firstpage
1
Lastpage
6
Abstract
A type of 3-DoF parallel mechanism with two translational DoFs and one rotational DoF around the axis parallel to the translational plane is analyzed thoroughly in this paper. The kinematic solutions and singularities of this parallel mechanism are analyzed in detail and closed-form kinematic solutions for both direct and inverse are given. Some pertaining topics are also investigated, including the condition number and the workspace analysis
Keywords
control engineering computing; manipulator kinematics; 3-DoF parallel mechanism; closed-form kinematic solution; computer-aided analysis; condition number; workspace analysis; Computer aided analysis; Kinematics; Laboratories; Machinery;
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.2006.329478
Filename
4127076
Link To Document