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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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【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】Workspace atlases for the computer aided design of the Delta robot
刘辛军, X-J Liu*, J Wang, and H Zheng
Proc. Instn Mech. Engrs Vol. 217 Part C,-0001,():
-1年11月30日
Parallel robots lead to complex kinematics equations, so determination of their workspaces is a challenging issue. The workspace of a robot is not fully characterized by its volume alone; the workspace shape is an important aspect as well. In this paper, the geometric determination of the workspace for Delta robots is presented. The workspace (workspace volume and workspace shape) for the robots is studied systematically in 'the physical model of the solution space', which is a useful tool to express relationships between the performance criteria and all link lengths of one type of robotic mechanism. Performance atlases of the workspace volume for the robots are plotted in the physical model of the solution space. The characteristics of the distribution of the workspace shapes in the physical model of the solution space are presented as well. The physical model of the solution space presents a new method for the computer aided design (CAD) of robotic mechanisms. The results are very useful for obtaining the optimum design of robotic mechanisms.
parallel robot, computer aided design, workspace, performance atlas
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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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