DocumentCode
3571338
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
Volume
2
fYear
2002
fDate
6/24/1905 12:00:00 AM
Firstpage
1155
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 2002. Proceedings. ICRA '02. IEEE International Conference on
Print_ISBN
0-7803-7272-7
Type
conf
DOI
10.1109/ROBOT.2002.1014699
Filename
1014699
Link To Document