Kinematics Analysis and Optimization of Three Degree of Freedom Mobile Platform
首发时间:2010-04-07
Abstract:A study of the kinematics characteristics of three degree of freedom (DOF) parallel mechanism is demoed. The architecture of the mechanism is being composed of a mobile platform attached to the base through three legs each composed of three identical jointed serial linkages (comprised of universal-prismatic-universal). The prismatic joints lies on each leg are considered to be actuated. The basic kinematics equations for use of the manipulator are derived to analyze the position and the length of legs.
keywords: Kinematics Parallel Manipulator Mobile platform Linkages Degree of Freedom (DOF)
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Kinematics Analysis and Optimization of Three Degree of Freedom Mobile Platform
摘要:A study of the kinematics characteristics of three degree of freedom (DOF) parallel mechanism is demoed. The architecture of the mechanism is being composed of a mobile platform attached to the base through three legs each composed of three identical jointed serial linkages (comprised of universal-prismatic-universal). The prismatic joints lies on each leg are considered to be actuated. The basic kinematics equations for use of the manipulator are derived to analyze the position and the length of legs.
关键词: Kinematics;Parallel Manipulator;Mobile platform;Linkages;Degree of Freedom (DOF)
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No.4166852407112706****
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