Title :
Preparation Structure Synthesis of 5-DOF Symmetrical Parallel Manipulator
Author :
Hairong, Fang ; Yuefa, Fang ; Bin, Han
Author_Institution :
Sch. of Mech. & Electron. Control Eng., Beijing Jiaotong Univ.
Abstract :
Based on screw theory, the relationship between motion screw system of limbs and constraint screw system of moving platform is analyzed, and the explicit expressions between constraint force screw of moving platform and motion screw of limbs are established. A method of structure synthesis for 5-DOF parallel manipulator is advanced. The conditions of kinematics pairs for limbs with one ZPW of constraint are derived. All possible of limbs of force constraints are obtained according to the formula. Finally, a 3R2T 5-DOF parallel manipulator is used as an example to describe the synthesis procedure for symmetrical and non-symmetrical 5-DOF parallel manipulators. The result of motion simulation analysis of the new manipulators proves the legitimacy of the method
Keywords :
control system synthesis; force control; manipulator kinematics; motion control; 5-DOF symmetrical parallel manipulator; constraint force screw; kinematics pairs; motion screw system; motion simulation analysis; screw theory; structure synthesis; Automation; Constraint theory; Control engineering; Control system synthesis; Fasteners; Manipulators; Mechatronics; Motion analysis; Parallel robots; Service robots; 5-DOF; Parallel Mechanisms; Structure Synthesis; Symmetrical Mechanisms;
Conference_Titel :
Mechatronics and Automation, Proceedings of the 2006 IEEE International Conference on
Conference_Location :
Luoyang, Henan
Print_ISBN :
1-4244-0465-7
Electronic_ISBN :
1-4244-0466-5
DOI :
10.1109/ICMA.2006.257696
