一种新型三自由度并联机械臂

Proceedings of the Fourth International Workshop on Robot Motion and Control (IEEE Cat. No.04EX891) Pub Date : 2004-06-17 DOI:10.1109/ROMOCO.2004.240571

M. Petko, G. Karpiel, D. Prusak, A. Martowicz

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引用次数: 5

摘要

本文提出了一种新型的、多用途的3-RRP_RR(转动-转动-棱镜-转动-转动关节)三平移自由度全并联机械手，具有较高的载荷能力、较大的工作空间和较高的可达加速度。给出了机械手的结构，并对其运动学和动力学进行了分析和建模。提出了一种轨迹发生器和控制器，并进行了仿真和实验研究。最后，对本文的研究结论和未来的工作进行了展望。

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A new 3-DOF parallel manipulator

The paper presents a novel, versatile 3-RRP_RR (revolute-revolute-prismatic-revolute-revolute joints), fully-parallel manipulator with three translational degrees of freedom for pick-and-place and machining applications, characterizing in comparatively high payload capacity, large workspace and high attainable accelerations. The construction of the manipulator is shown, its kinematics and dynamics is analysed and modelled. A trajectory generator and a controller are proposed, simulated and experimentally investigated. Finally, the conclusions and future works are presented.

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来源期刊

Proceedings of the Fourth International Workshop on Robot Motion and Control (IEEE Cat. No.04EX891)

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