Research on the motion and force transmission of 3-PCR parallel robot

Author

Li, Bo ; Chen, Anjun ; Zhang, Quan ; Wang, Yaoting

Author_Institution

Sch. of Mech. Eng., Jiangnan Univ., Wuxi, China

fYear

2010

fDate

26-28 June 2010

Firstpage

2305

Lastpage

2308

Abstract

This paper analyzes the motion and force transmission on the basis of a particular 3-DOF parallel mechanism-3-PCR parallel robot. First of all, the kinematic equation for 3-PCR parallel robot has been established. Besides, the manipulability of velocity and force have been defined in line with the Jacobian matrix for the robot mechanism. Moreover, the relevant evaluation indices for the velocity and force transmission of the robot mechanism have been specified. Finally, the capability of the velocity and force transmission of the mechanism, under designated postures within the workspace, have been measured by considering the velocity and force manipulability as performance indices.

Keywords

Jacobian matrices; manipulator kinematics; 3-DOF parallel mechanism; 3-PCR parallel robot; Jacobian matrix; force manipulability; force transmission; kinematic equation; motion transmission; performance indices; velocity manipulability; velocity transmission; Bismuth; Equations; Force measurement; Hydraulic actuators; Kinematics; Motion analysis; Orbital robotics; Parallel robots; Rails; Velocity measurement; 3-PCR; Force transmission; Motion transmission;

fLanguage

English

Publisher

ieee

Conference_Titel

Mechanic Automation and Control Engineering (MACE), 2010 International Conference on

Conference_Location

Wuhan

Print_ISBN

978-1-4244-7737-1

Type

conf

DOI

10.1109/MACE.2010.5535457

Filename

5535457