Type Synthesis and Kinematics Performance Analysis of a Class of 3T2R Parallel Mechanisms with Large Output Rotational Angles

doi:10.1007/s11633-019-1192-9

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	Type Synthesis and Kinematics Performance Analysis of a Class of 3T2R Parallel Mechanisms with Large Output Rotational Angles
	Bing-Shan Jiang; Hai-Rong Fang; Hai-Qiang Zhang
发表期刊	International Journal of Automation and Computing
ISSN	1476-8186
	2019
卷号	16 期号:6 页码:775-785
摘要	Based on Lie group theory and the integration of configuration, a class of 3T2R (T denotes translation and R denotes rotation) parallel mechanisms with large output rotational angles is synthesized through a five degree of freedom single limb evolving into two five degree of freedom limbs and constraint coupling of each kinematics chain. A kind of 3T2R parallel mechanisms with large rotational angles was selected from type synthesis of 3T2R parallel mechanisms, inverse kinematics and velocity Jacobian matrix of the parallel mechanism are established. The performance indices including workspace, rotational capacity, singularity and dexterity of the parallel mechanism are analyzed. The results show that the parallel mechanism has not only large output rotational angles but also better dexterity.
关键词	Type synthesis Lie group theory configuration evolution kinematics performance evaluation.
DOI	10.1007/s11633-019-1192-9
引用统计	被引频次：7[WOS] [WOS记录] [WOS相关记录]
文献类型	期刊论文
条目标识符	http://ir.ia.ac.cn/handle/173211/42374
专题	学术期刊_Machine Intelligence Research
作者单位	School of Mechanical, Electronic and Control Engineering, Beijing Jiaotong University, Beijing 100044, China
推荐引用方式 GB/T 7714	Bing-Shan Jiang,Hai-Rong Fang,Hai-Qiang Zhang. Type Synthesis and Kinematics Performance Analysis of a Class of 3T2R Parallel Mechanisms with Large Output Rotational Angles[J]. International Journal of Automation and Computing,2019,16(6):775-785.
APA	Bing-Shan Jiang,Hai-Rong Fang,&Hai-Qiang Zhang.(2019).Type Synthesis and Kinematics Performance Analysis of a Class of 3T2R Parallel Mechanisms with Large Output Rotational Angles.International Journal of Automation and Computing,16(6),775-785.
MLA	Bing-Shan Jiang,et al."Type Synthesis and Kinematics Performance Analysis of a Class of 3T2R Parallel Mechanisms with Large Output Rotational Angles".International Journal of Automation and Computing 16.6(2019):775-785.

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