Title :
Kinematics and singularity analysis of a novel 1T2R fully-decoupled parallel mechanism
Author :
Fan, Caixia ; Liu, Hongzhao ; Zhang, Yarbin
Author_Institution :
Dept. of Mech. & Precision Instrum. Eng., Xi´´an Univ. of Technol., Xi´´an, China
Abstract :
A novel three degree-of-freedom (DOF) fully-decoupled parallel mechanism (PM) with one-translational and two-rotational (1T2R) DOF is presented. First, the calculation of the DOF and the input selection are performed. Next, the direct and the inverse kinematic problems are analyzed. Finally, singularity conditions are discussed systematically based on the the direct and the inverse Jacobian matrices. The motion of the mechanism is fully decoupled for the Jacobian matrix being a triangular matrix. Thus, it is simpler in aspects of control and trajectory planning of the mechanism.
Keywords :
Jacobian matrices; path planning; robot kinematics; 1T2R fully-decoupled parallel mechanism; inverse Jacobian matrices; inverse kinematic problems; kinematics analysis; singularity analysis; trajectory planning; triangular matrix; Costs; Educational institutions; Instruments; Jacobian matrices; Joining processes; Kinematics; Manipulators; Manufacturing; Robots; Trajectory; fully-decoupled; kinematics analysis; parallel mechanism; singularity analysis;
Conference_Titel :
Intelligent Computing and Intelligent Systems, 2009. ICIS 2009. IEEE International Conference on
Conference_Location :
Shanghai
Print_ISBN :
978-1-4244-4754-1
Electronic_ISBN :
978-1-4244-4738-1
DOI :
10.1109/ICICISYS.2009.5358064
