Study on Kinematics Decoupling for Parallel Manipulator with Perpendicular Structures

Author

Zhang, Jianjun ; Li, Weimin ; Wang, Xiaohui ; Gao, Feng

Author_Institution

Sch. of Mech. Eng., Hefei Univ. of Technol., Tianjin

fYear

2006

fDate

Oct. 2006

Firstpage

748

Lastpage

753

Abstract

Kinematics decoupling characteristics (KDCs) for parallel manipulators simplify the kinematics models, and make them easier in calibration and control. This paper focuses on KDCs for parallel manipulators which are described in detail. The relationship between input and output of a system with KDCs is discussed and the characteristics of its transfer matrix are educed. Then, the kinematics of two parallel manipulators, a 6-PSS parallel micro-manipulator with perpendicular structures (PMMWPS) and a 6-PP⁺S parallel manipulator with perpendicular structures (PMWPS), is analyzed. Also, the kinematics models are obtained. In the course of the analysis, conditional decoupling is defined. The results show that the two proposed PMWPSs have KDCs. The KDCs for PMWPSs would offer a new idea in the area of parallel manipulators

Keywords

manipulator kinematics; 6-PP⁺S parallel manipulator; 6-PSS parallel micromanipulator; kinematics decoupling characteristics; parallel manipulator; perpendicular structures; Acceleration; Aerospace simulation; Calibration; Intelligent robots; Kinematics; Manipulator dynamics; Mathematics; Mechanical engineering; Tires; Wrist; 6-PP+S PMWPS; 6-PSS PMMWPS; Kinematics decoupling characteristics (KDCs); Parallel manipulator with perpendicular structures (PMWPS);

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems, 2006 IEEE/RSJ International Conference on

Conference_Location

Beijing

Print_ISBN

1-4244-0259-X

Electronic_ISBN

1-4244-0259-X

Type

conf

DOI

10.1109/IROS.2006.282624

Filename

4058449