{"title":"一种新型六自由度组合并联机构的研究","authors":"Wei Zhao, Bing Li, Hongjian Yu, Ying Hu","doi":"10.1109/ROBIO.2009.4913217","DOIUrl":null,"url":null,"abstract":"A novel 6-DOF parallel manipulator composed of two limited-DOF manipulators is proposed in this paper, the degree of freedom (DOF) of this manipulator is analyzed and the position kinematic modeling is established. The Jacobian matrix is derived by vector loops equations. The workspace is determined considering the interference check by the numerical method. Furthermore, the performance of the mechanism is evaluated according to dexterity criteria. In order to satisfy the different configuration requirements, the two reconfigurable structures are presented based on the presented 6-DOF parallel mechanism. The work provides basis for the development of the novel robotic manipulator.","PeriodicalId":321332,"journal":{"name":"2008 IEEE International Conference on Robotics and Biomimetics","volume":"3 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2009-02-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"1","resultStr":"{\"title\":\"Study on a novel 6-DOF combinational parallel manipulator\",\"authors\":\"Wei Zhao, Bing Li, Hongjian Yu, Ying Hu\",\"doi\":\"10.1109/ROBIO.2009.4913217\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"A novel 6-DOF parallel manipulator composed of two limited-DOF manipulators is proposed in this paper, the degree of freedom (DOF) of this manipulator is analyzed and the position kinematic modeling is established. The Jacobian matrix is derived by vector loops equations. The workspace is determined considering the interference check by the numerical method. Furthermore, the performance of the mechanism is evaluated according to dexterity criteria. In order to satisfy the different configuration requirements, the two reconfigurable structures are presented based on the presented 6-DOF parallel mechanism. The work provides basis for the development of the novel robotic manipulator.\",\"PeriodicalId\":321332,\"journal\":{\"name\":\"2008 IEEE International Conference on Robotics and Biomimetics\",\"volume\":\"3 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2009-02-22\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"1\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2008 IEEE International Conference on Robotics and Biomimetics\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/ROBIO.2009.4913217\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2008 IEEE International Conference on Robotics and Biomimetics","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ROBIO.2009.4913217","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Study on a novel 6-DOF combinational parallel manipulator
A novel 6-DOF parallel manipulator composed of two limited-DOF manipulators is proposed in this paper, the degree of freedom (DOF) of this manipulator is analyzed and the position kinematic modeling is established. The Jacobian matrix is derived by vector loops equations. The workspace is determined considering the interference check by the numerical method. Furthermore, the performance of the mechanism is evaluated according to dexterity criteria. In order to satisfy the different configuration requirements, the two reconfigurable structures are presented based on the presented 6-DOF parallel mechanism. The work provides basis for the development of the novel robotic manipulator.
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