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Kinematics of a partially decoupled 3R2T symmetrical parallel manipulator 3-RCRR
Zhu SJ(朱思俊); Huang Z(黄真); Zhao MY(赵明扬)
作者部门现代装备研究室
关键词Kinematics Bionics Five-dof Parallel Manipulator 3-rcrr
发表期刊Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science
ISSN0954-4062
2008
卷号222期号:2页码:277-285
收录类别SCI ; EI
EI收录号20081611207582
WOS记录号WOS:000254710300016
产权排序1
资助机构NSFC China with the grant no.50275129
摘要The 3R2T (three rotational and two independent translational degree of freedom (DoF)) symmetrical parallel manipulator may be adopted in bionics, for example, simulating the motion of a cervical spine based on their mobility property and performance close to isotropic limit. However, up to now, characteristics of this class of manipulators have not been well studied because of its short history. Hence, to study the feasibility of this class of manipulator for bionics, kinematics for 3-RCRR is analysed including position, singularity, velocity, and acceleration. Different from other 3R2T 5-DoF symmetrical parallel manipulators, the mobility of 3-RCRR is partially decoupled, which makes the realization of control system easier than in others.
语种英语
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文献类型期刊论文
条目标识符http://ir.sia.cn/handle/173321/19910
专题装备制造技术研究室
通讯作者Zhu SJ(朱思俊)
作者单位1.Advanced Equipment Research and Design Center, Shenyang Institute of Automation (CMS), Shenyang, China
2.Robotics Research Center, Yanshan University, Hebei, China
推荐引用方式
GB/T 7714
Zhu SJ,Huang Z,Zhao MY. Kinematics of a partially decoupled 3R2T symmetrical parallel manipulator 3-RCRR[J]. Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science,2008,222(2):277-285.
APA Zhu SJ,Huang Z,&Zhao MY.(2008).Kinematics of a partially decoupled 3R2T symmetrical parallel manipulator 3-RCRR.Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science,222(2),277-285.
MLA Zhu SJ,et al."Kinematics of a partially decoupled 3R2T symmetrical parallel manipulator 3-RCRR".Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science 222.2(2008):277-285.
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