DocumentCode
3001843
Title
Statics of a new asymmetrical parallel robot
Author
Wu, Mengli ; Zhang, Dawei
Author_Institution
Coll. of Transp. Eng., Civil Aviation Univ. of China, Tianjin
fYear
2008
fDate
1-3 Sept. 2008
Firstpage
2466
Lastpage
2470
Abstract
Amendment of virtual displacement is used for statics analysis of the sub-6 DOF asymmetrical PKM. The virtual displacement is in conjunction with the influence coefficients and generalized coordinates, so the generalized velocity and virtual displacement are unified. The spring is used and with parametric optimization, the static balancing for TAM is achieved.
Keywords
robot kinematics; asymmetrical parallel kinematic machine; asymmetrical parallel robot; parametric optimization; statics analysis; velocity displacement; virtual displacement; Actuators; Educational institutions; Kinematics; Logistics; Mechanical engineering; Parallel robots; Robotics and automation; Servomotors; Springs; Transportation; Parallel Kinematic Machines; Statics; Virtual displacement;
fLanguage
English
Publisher
ieee
Conference_Titel
Automation and Logistics, 2008. ICAL 2008. IEEE International Conference on
Conference_Location
Qingdao
Print_ISBN
978-1-4244-2502-0
Electronic_ISBN
978-1-4244-2503-7
Type
conf
DOI
10.1109/ICAL.2008.4636582
Filename
4636582
Link To Document