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Kinematic analysis of a flexible six-DOF parallel mechanism
Jing, Feng-Shui1; Tan, Min1; Hou, Zeng-Guang1; Liang, Zi-Ze1; Wang, Yun-Kuan1; Gupta, Madan M.2; Nikiforuk, Peter N.2
2006-04-01
发表期刊IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS PART B-CYBERNETICS
卷号36期号:2页码:379-389
文章类型Article
摘要In this paper, a new type of six-degrees of freedom (DOF) flexible parallel mechanism (FPM) is presented. This type of parallel mechanism possesses several favorable properties: 1) its number of DOFs is independent of the number of serial chains which make up the mechanism; 2) it has no kinematical singularities; 3) it is designed to move on rails, and therefore its workspace is much larger than that of a conventional parallel manipulator; and 4) without changing the number of DOFs and the kinematics of the mechanisms, the number of the serial chains can be reconfigured according to the needs of the tasks. These properties make the mechanism very preferable in practice, especially for such tasks as joining huge ship blocks, in which the manipulated objects vary dramatically both in weights and dimensions. Furthermore, the mechanism can be used as either a fully actuated system or an underactuated system. In the fully actuated case, the mechanism has six DOF motion capabilities and manipulation capabilities. However, in the underactuated case, the mechanism still has six DOF motion capabilities, but it has only five DOF manipulation capabilities. In this paper, both the inverse and forward kinematics are studied and expressed in a closed form. The workspace and singularity analysis of the mechanism are also presented. An example is presented to illustrate how to calculate the kinematics of the mechanism in both fully-actuated and underactuated cases. Finally, an application of such a mechanism to manufacturing industry is introduced.
关键词Kinematics Manipulator Parallel Mechanism Robot Under-actuated System
WOS标题词Science & Technology ; Technology
关键词[WOS]MANIPULATOR
收录类别SCI
语种英语
WOS研究方向Automation & Control Systems ; Computer Science
WOS类目Automation & Control Systems ; Computer Science, Artificial Intelligence ; Computer Science, Cybernetics
WOS记录号WOS:000252227000011
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文献类型期刊论文
条目标识符http://ir.ia.ac.cn/handle/173211/9234
专题09年以前成果
作者单位1.Chinese Acad Sci, Inst Automat, Lab Complex Syst & Intelligent Sci, Beijing 100080, Peoples R China
2.Univ Saskatchewan, Coll Engn, Intelligent Syst Res Lab, Saskatoon, SK S7N 5A9, Canada
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GB/T 7714
Jing, Feng-Shui,Tan, Min,Hou, Zeng-Guang,et al. Kinematic analysis of a flexible six-DOF parallel mechanism[J]. IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS PART B-CYBERNETICS,2006,36(2):379-389.
APA Jing, Feng-Shui.,Tan, Min.,Hou, Zeng-Guang.,Liang, Zi-Ze.,Wang, Yun-Kuan.,...&Nikiforuk, Peter N..(2006).Kinematic analysis of a flexible six-DOF parallel mechanism.IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS PART B-CYBERNETICS,36(2),379-389.
MLA Jing, Feng-Shui,et al."Kinematic analysis of a flexible six-DOF parallel mechanism".IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS PART B-CYBERNETICS 36.2(2006):379-389.
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