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【期刊论文】A three translational DoFs parallel cube-manipulator
刘辛军, Xin-Jun Liu*, Jay il Jeong, and Jongwon Kim
Robotica (2003) volume 21, pp. 645-653.,-0001,():
-1年11月30日
This paper concerns the presentation and analysis of a type of three translational degrees of freedom (DoFs) parallel cube-manipulator. The parallel manipulators are the topology architectures of the DELTA robot and Tsai's manipulator, respectively, which have three translational DoFs. In the design, the three actuators are arranged according to the Cartesian coordinate system, which means that the actuating directions are normal to each other, and the joints connecting to the moving platform are located on three sides of a cube, for such reason we call this type of manipulator the parallel cube-manipulator. The kinematics problems, singularity, workspace, compliance characteristic of the manipulator are investigated in the paper. The analysis results show that the manipulators have the advantages of no singularities in the workspace, relatively more simple forward kinematics, and existence of a compliance center. The parallel cube-manipulator can be applied to the fields of micro-motion manipulators, remote center compliance (RCC) devices, assembly, and so on.
Parallel manipulators, Singular configurations, Compliance, Kinematics, Workspace.,
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【期刊论文】A new spatial three-DoF parallel manipulator with high rotational capability
刘辛军
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-1年11月30日
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【期刊论文】A new methodology for optimal kinematic design of parallel mechanisms
刘辛军
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-1年11月30日
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【期刊论文】A new family of spatial 3-DoF fully-parallel manipulators with high rotational capability
刘辛军, Xin-Jun Liu a, *, Jinsong Wang b, Gunter Pritschow a
Mechanism and Machine Theory 40(2005)475-494,-0001,():
-1年11月30日
Most fully-parallel manipulators encountered today have a common disadvantage, i.e., their low rotational capability. To overcome such a difficulty, this paper focuses its attention on the proposal of a new family of three-degree-of-freedom (3-DoF) fully-parallel manipulators capable of high rotational capability. Parallelogram allows the output link to remain at a fixed orientation with respect to an input link, for which it has many unique roles, especially when creating a desirable DoF output in the design of parallel manipulators. The role of a parallelogram herein described, is used completely for the design of a new parallel manipulator family. In this family, the moving platform of a parallel manipulator is connected to the base by three non-identical legs. The fact that all joints involved in the rotational DoF are with single DoF guarantees the high rotational capability performance of the manipulators. The parallel manipulators proposed here have wide applications in industrial robots, simulators, micro-motion manipulators, parallel kinematics machines, and any other manipulation devices that a high rotational capability is needed. The research provides a new design methodology of novel parallel manipulators. 2004 Elsevier Ltd. All rights reserved.
Parallel manipulator, Rotational capability, Parallelogram, Kinematics, Singularity
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【期刊论文】A New Approach to the Design of a DELTA Robot with a Desired Workspace
刘辛军, XIN-JUN LIU★, JINSONGWANG, KUN-KU OH, and JONGWON KIM
Journal of Intelligent and Robotic Systems 39: 209-225, 2004.,-0001,():
-1年11月30日
In this paper, a new design method considering a desired workspace and swing range of spherical joints of a DELTA robot is presented. The design is based on a new concept, which is the maximum inscribed workspace proposed in this paper. Firstly, the geometric description of the workspace for a DELTA robot is discussed, especially, the concept of the maximum inscribed workspace for the robot is proposed. The inscribed radius of the workspace on a workspace section is illustrated. As an applying example, a design result of the DELTA robot with a given workspace is presented and the reasonability is checked with the conditioning index. The results of the paper are very useful for the design and application of the parallel robot.
workspace, parallel robots, kinematics design, conditioning index.,
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