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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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【期刊论文】Performance atlases of the workspace for planar 3-DOF parallel manipulators
刘辛军, Xin-Jun Liu*, Jinsong Wang*, and Feng Gao**
Robotica (2000) volume 18, pp. 563-568.,-0001,():
-1年11月30日
The design of the robotic mechanisms is most important because they determine the performance characteristics of the robots. This paper concerns the issue of computer-aided design (CAD) for planar 3-DOF parallel robotic mechanisms by means of the physical model of the solution space, which can be used systematically to express the relationships between the performance criteria and all link lengths of one type of the robtic mechanism. The performance atlases of the workspace volume for the manipulators 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. The results are useful for the optimum design of the robotic mechanisms. This paper proposes a new way for robotic CAD.
Workspaces atlas, Parallel manipulators, Robotic mechanisms, Physical model of the solution space.,
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【期刊论文】A new spatial three-DoF parallel manipulator with high rotational capability
刘辛军
,-0001,():
-1年11月30日
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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】Parallel Mechanisms with Two or Three Degrees of Freedom*
刘辛军, LIu Xinjun, WANG dinsong, LI Tiemin**, DUAN Guanghong
Tsinghua Science and Technology, February 2003, 8 (1): 105-112,-0001,():
-1年11月30日
Parallel manipulators for the machine tool industry have been studied extensively for various industrial applications. However, limited useful workspace areas, the poor mobility, and design difficulties of mote complex parallel manipulators have led to more interest in parallel manipulators with less than six degrees of freedom (Dots). Several parallel mechanisms with various numbers and types of degrees of freedom are described in this paper, which can be used in parallel kinematics machines, motion simulators, and industrial robots
parallel manipulator, parallel kinematic machine, degree of freedom, robot
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