Title :
Structure synthesis of symmetrical Low-DOF parallel manipulators
Author :
Fang, Hairong ; Gao, Yongli ; Fang, Yuefa ; Liu, Peter X.
Author_Institution :
Sch. of Mech. & Electron. Control Eng., Beijing Jiaotong Univ., Beijing
Abstract :
In this paper, a new method is presented for the structure synthesis of Low-DOF symmetrical parallel manipulators based on the theory of screws. A parallel manipulator with three rotational DOFs and one translational DOF is used as an example to illustrate the procedure. All possible force constrained limb that can be used to construct low- DOF parallel manipulators can be enumerated, and the potential parallel mechanisms can be thus enumerated, which is very important for the optimal design of new parallel manipulators. Simulation results show the effectiveness and validity of this method.
Keywords :
manipulators; rotational degree-of-freedom; symmetrical low-DOF parallel manipulator; translational degree-of-freedom; Biomimetics; Computational modeling; Concurrent computing; Control engineering; Fasteners; Manipulators; Manufacturing; Parallel robots; Systems engineering and theory; Vectors; Parallel manipulator; screw theory; structure synthesis;
Conference_Titel :
Robotics and Biomimetics, 2007. ROBIO 2007. IEEE International Conference on
Conference_Location :
Sanya
Print_ISBN :
978-1-4244-1761-2
Electronic_ISBN :
978-1-4244-1758-2
DOI :
10.1109/ROBIO.2007.4522465
