{"title":"一种3T2R五自由度并联机器人的新设计","authors":"Zhongxing Yang, Dan Zhang","doi":"10.1115/detc2019-97088","DOIUrl":null,"url":null,"abstract":"\n A novel 5-DOF 3T2R parallel manipulator is designed with chains in perpendicular planes. The synthesis is based on motion sets intersection and disseminated Chebychev-Grübler-Kutzbach formula. A boundary offset method is developed to detect link interference. Multi-objective optimization is practiced on the design for improved performances. Stiffness based on oriented platform coordinate is developed. This paper also discusses the potential applications of the design.","PeriodicalId":211780,"journal":{"name":"Volume 5B: 43rd Mechanisms and Robotics Conference","volume":"4 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2019-11-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"1","resultStr":"{\"title\":\"Novel Design of a 3T2R 5-DOF Parallel Manipulator\",\"authors\":\"Zhongxing Yang, Dan Zhang\",\"doi\":\"10.1115/detc2019-97088\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"\\n A novel 5-DOF 3T2R parallel manipulator is designed with chains in perpendicular planes. The synthesis is based on motion sets intersection and disseminated Chebychev-Grübler-Kutzbach formula. A boundary offset method is developed to detect link interference. Multi-objective optimization is practiced on the design for improved performances. Stiffness based on oriented platform coordinate is developed. This paper also discusses the potential applications of the design.\",\"PeriodicalId\":211780,\"journal\":{\"name\":\"Volume 5B: 43rd Mechanisms and Robotics Conference\",\"volume\":\"4 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2019-11-25\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"1\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Volume 5B: 43rd Mechanisms and Robotics Conference\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1115/detc2019-97088\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Volume 5B: 43rd Mechanisms and Robotics Conference","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1115/detc2019-97088","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
A novel 5-DOF 3T2R parallel manipulator is designed with chains in perpendicular planes. The synthesis is based on motion sets intersection and disseminated Chebychev-Grübler-Kutzbach formula. A boundary offset method is developed to detect link interference. Multi-objective optimization is practiced on the design for improved performances. Stiffness based on oriented platform coordinate is developed. This paper also discusses the potential applications of the design.
求助内容：
应助结果提醒方式：
京公网安备 11010802042870号
