Title :
Structure synthesis of a class of 3-DOF rotational parallel manipulators
Author :
Fang, Yuefa ; Tsai, Lung-Wen
Author_Institution :
Dept. of Mech. Eng., Northern Jiaotong Univ., Beijing, China
Abstract :
The theory of reciprocal screws is used for the enumeration of the feasible limb structures of a class of 3-degree-of-freedom (DOF) rotational parallel manipulators. Geometric conditions for the moving platform to possess finite spherical motion are described. A table of feasible limbs that can be used for the construction of 3-DOF rotational parallel manipulators is developed.
Keywords :
control system synthesis; end effectors; fasteners; manipulator kinematics; 3-DOF rotational parallel manipulators; feasible limb structures; finite spherical motion; geometric conditions; infinite-pitch screw; moving platform; reciprocal screws; robot design; structure synthesis; Actuators; Algebra; Constraint theory; Fasteners; Kinematics; Manipulators; Mechanical engineering; Parallel robots;
Journal_Title :
Robotics and Automation, IEEE Transactions on
DOI :
10.1109/TRA.2003.819597
