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
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;
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
DOI :
10.1109/ICAL.2008.4636582
