U-P-U关节运动链三自由度并联平移机械臂设计

Proceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robot and Systems. Innovative Robotics for Real-World Applications. IROS '97 Pub Date : 1997-09-07 DOI:10.1109/IROS.1997.656577

Sylvie Durand-Leguay, C. Reboulet

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引用次数: 16

摘要

提出了一种基于螺旋系统理论的通用并联机器人的解析代数设计方法。在回顾一些理论特征后，考虑串联运动链，然后将其平行排列，将其运动指定为初级螺杆系统。最后，推导了几何设计约束和运动特性约束。将该方法应用于U-P-U关节运动链并联结构的设计。

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Design of a 3-DOF parallel translating manipulator with U-P-U joints kinematic chains

An analytical and algebraic procedure based on the screw-systems theory for the design of general parallel manipulators is presented. After recalling some theoretical features, serial kinematic chains are considered and then arranged in parallel, the resulting motion being specified as an elementary screw-system. Finally, constraints for the geometrical design as well as kinematic properties are deduced. The method described is applied to the design of a parallel structure with U-P-U joint kinematic chains.

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来源期刊

Proceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robot and Systems. Innovative Robotics for Real-World Applications. IROS '97

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