在规定的工作空间中具有特定定向能力的6-PSS并联机械臂的架程确定

Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065) Pub Date : 2000-04-24 DOI:10.1109/ROBOT.2000.846383

Tian Huang, B. Jiang, D. Whitehouse

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引用次数: 18

摘要

本文提出了一种确定6-PSS并联机构机架行程的有效方法。利用微分几何方法建立了位置工作空间边界的解析表达式。这使得封闭形式的解决方案，以必要的马车行程，以产生一个圆柱形规定的工作空间来确定。

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Determination of the carriage stroke of 6-PSS parallel manipulators having the specific orientation capability in a prescribed workspace

In this paper, an effective approach to determine the carriage stroke of 6-PSS parallel manipulator is presented. The analytical expression of the position workspace boundary is formulated using differential geometry. This allows the closed form solution to the carriage stroke necessary to generate a cylindrical prescribed workspace to be determined.

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Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065)

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