已为您找到该学者20条结果 成果回收站
【期刊论文】On the analysis of a new spatial three-degrees-of-freedom parallel manipulator
刘辛军
,-0001,():
-1年11月30日
-
40浏览
-
0点赞
-
0收藏
-
0分享
-
81下载
-
0
-
引用
【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.,
-
70浏览
-
0点赞
-
0收藏
-
0分享
-
45下载
-
0
-
引用
【期刊论文】Kinematics, singularity and workspace of planar 5R symmetrical parallel mechanisms
刘辛军
,-0001,():
-1年11月30日
-
34浏览
-
0点赞
-
0收藏
-
0分享
-
273下载
-
0
-
引用
【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.,
-
56浏览
-
0点赞
-
0收藏
-
0分享
-
91下载
-
0
-
引用
【期刊论文】Determination of the link lengths for a spatial 3-DOF parallel manipulator
刘辛军
,-0001,():
-1年11月30日
-
30浏览
-
0点赞
-
0收藏
-
0分享
-
427下载
-
0
-
引用