Title :
A new three-degree-of-freedom parallel manipulator
Author :
Liu, Xin-Jun ; Kim, Jongwon
Author_Institution :
Intelligent Manuf. Eng. Lab., Seoul Nat. Univ., South Korea
fDate :
6/24/1905 12:00:00 AM
Abstract :
In this paper, a novel spatial three degree-of-freedom, that are two degrees of translational freedom and one degree of orientational freedom, parallel manipulator is proposed. The parallel manipulator consists of a base plate, a movable platform, and three non-identical connecting legs. The kinematics problems and velocity equation of the new parallel manipulator are given. Three kinds of singularities are presented. The parallel manipulator has wide application in the fields of industrial robots, motion simulators, and parallel kinematics machines.
Keywords :
manipulator kinematics; 3-DOF parallel manipulator; base plate; industrial robots; kinematics; motion simulators; movable platform; nonidentical connecting legs; parallel kinematics machines; singularities; velocity equation; Aerospace engineering; Equations; Joining processes; Kinematics; Leg; Manipulators; Manufacturing; Parallel robots; Robot sensing systems; Service robots;
Conference_Titel :
Robotics and Automation, 2002. Proceedings. ICRA '02. IEEE International Conference on
Print_ISBN :
0-7803-7272-7
DOI :
10.1109/ROBOT.2002.1014699
