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
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;
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
DOI :
10.1109/CAIDCD.2006.329478
