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【期刊论文】一种新型空间3自由度并联机构的正反解及工作空间分析*
刘辛军, 汪劲松, 李剑锋, 高峰
机械工程学报,2001,27(10):36~39,-0001,():
-1年11月30日
提出一种新型空间3自由度并联机器人机构,该机器人机构的动平台相对于定平台具有空间2个移动、1个转动自由度。建立了其运动学正反解的封闭形式,并对其工作空同进行了系统的分析和研究。该新型并联机器人机构在工业机器人、薇动机器人、少自由度飞行模拟器和并联机床等领域具有广泛的应用。
新型机构, 并联机器人, 运动学分析, 工作空间
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【期刊论文】On the Analysis of a New Spatial Three-Degrees-of-Freedom Parallel Manipulator
刘辛军, Xin-Jun Liu, Jinsong Wang, Feng Gao, and Li-Ping Wang
IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION, VOL. 17, NO.6, DECEMBER 2001,-0001,():
-1年11月30日
In this paper, a new spatial three-degrees-of-freedom (two degrees of translational freedom and one degree of rotational freedom) parallel manipulator is proposed. The parallel manipulator consists of a base plate, a movable platform, and three connecting legs. The inverse and forward kinematics problems are described in closed forms and the velocity equation of the new parallel manipulator is given. Three kinds of singularities are also presented. The workspace for the manipulator is analyzed systematically; in particular, indices to evaluate the mobility (in this paper, mobility means rotational capability) of the moving platform of the manipulator will be defined and discussed in detail. Finally, a topology architecture of the manipulator is introduced. The parallel manipulator has wide application in the fields of industrial robots, simulators, micromanipulators, and parallel machine tools.
Mobility, parallel manipulators, singularity, workspace.,
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【期刊论文】Some New Parallel Mechanisms Containing the Planar Four-Bar Parallelogram
刘辛军, Xin-Jun Liu, Jinsong Wang
The International Journal of Robotics Research Vol. 22, No.9, September 2003, pp. 717-732,-0001,():
-1年11月30日
A parallelogram allows the output link to remain at a fixed orientation with respect to an input link, for which it acts as a unique role in the design of parallel mechanisms. In this paper, the unique role of a parallelogram is used completely to design some new parallel mechanisms with two to six degrees of freedom (DoFs). In these mechanisms, some with three DoFs possess the advantage of very high rotational capability and some with two DoFs have the translational output of a rigid body. More than that, the design concept is also applied first to some parallel mechanisms to improve the systems' rotational capability. The parallel mechanisms proposed in this paper have wide applications in industrial robots, simulators, micromanipulators, parallel kinematics machines, and any other manipulation devices in which high rotational capability and stiffness are needed. Especially, the paper provides new concepts of the design of novel parallel mechanisms and the improvement of rotational capability for such systems.
parallel mechanism, degrees of freedom, rotational capability, mechanical design, parallelogram
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刘辛军
,-0001,():
-1年11月30日
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【期刊论文】Kinematics, Dynamics and Dimensional Synthesis of a Novel 2-DoF Translational Manipulator
刘辛军, XIN-JUN LIU★, QI-MING WANG, JINSONGWANG
Journal of Intelligent and Robotic Systems 41: 205-224, 2004.,-0001,():
-1年11月30日
In the past few years, parallel manipulators have become increasingly popular in industry, especially, in the field of machine tools. In this paper, a novel 2-degree-of-freedom (DoF) parallel manipulator, which has two translational DoFs, is proposed. It is characterized by the fact that the output of the manipulator is two planar DoFs of a rigid body, while its orientation remains constant. The inverse and forward kinematics can be described in closed form. The velocity equation, singularity, and workspace of the manipulator are presented. In addition the inverse dynamics problem of the device is investigated employing the Lagrange multipliers approach. The dimensional synthesis based on the workspace and conditioning indices is presented. The proposed manipulator can be applied to the field of machine tools or used as the mobile base for a spatial manipulator. The results of the paper are very useful for the design and application of the new manipulator.
parallel manipulators, parallel kinematics machine, dynamics, dimensional synthesis.,
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