Title :
Motion characteristics and rotational axis analysis of three DOF parallel robot mechanisms
Author :
Huang ; Fang, Y.
Author_Institution :
Dept. of Mech. Eng., Yanshan Univ., Hebei, China
Abstract :
This paper presents a simple method based on the screw theory for determination of the possible motion characteristics and the position of rotational axes when the linear displacements are constrained for multi-degree of freedom (2-5 DOF) parallel mechanisms. The theory is significant for understanding novel constrained multi-DOF mechanisms, their kinematics and robot path planning. The paper also reports the analysis results for several three DOF platform and pyramid parallel mechanisms
Keywords :
control system analysis; kinematics; motion control; path planning; robots; 3-DOF platform; constrained force; kinematics; linear displacements; motion characteristics; path planning; pyramid parallel mechanisms; rotational axis analysis; screw theory; Constraint theory; End effectors; Fasteners; Kinematics; Manipulators; Mechanical engineering; Motion analysis; Motion planning; Parallel robots; Path planning;
Conference_Titel :
Systems, Man and Cybernetics, 1995. Intelligent Systems for the 21st Century., IEEE International Conference on
Conference_Location :
Vancouver, BC
Print_ISBN :
0-7803-2559-1
DOI :
10.1109/ICSMC.1995.537735
