KINEMATIC ANALYSIS OF A NOVEL THREE DEGREE-OF-FREEDOM PLANAR PARALLEL MANIPULATOR

	KINEMATIC ANALYSIS OF A NOVEL THREE DEGREE-OF-FREEDOM PLANAR PARALLEL MANIPULATOR
	B. Li; J. Zhao; X. Yang; Y. Hu
刊名	INTERNATIONAL JOURNAL OF ROBOTICS & AUTOMATION
	2009
卷号	24 期号:2 页码:158-165
英文摘要	In this paper, a novel unsymmetrical five-four bar Planar Parallel Manipulator (PPM) with three Degree-of-Freedoms (DOFs) is proposed. the newmanipulator is composed of a double-layer five-bar part with a four-bar part located in between. Targeting for the application of Chinese dish cooking machine, the detailed kinematics analysis for the new PPM is developed. Different front traditional three-DOF PPM, the manipulator has only four assembly modes. In orientation workspace analysis, the workspace map is shown to be all annular zone. The two-point velocity method is used in dexterity analysis, to solve the inhomogeneous problem. and the five-four bar PPM exhibits good dexterity. By analysis of both Inverse Kinematics Singularity (IKS) and Direct Kinematics Singularity (DKS), the distributions of the singular curves in workspace are obtained, the DKS analysis also reveals the similarity between the DKS and the direct, displacement analysis: the related analysis can be decomposed into a four-bar part, and a five-bar part respectively. All the analysis presented tit the paper can facilitate the dimensional synthesis and trajectory planning for the manipulator.
收录类别	SCI
原文出处	http://www.egr.msu.edu/~zhaojia1/lib/exe/fetch.php?media=jianguo_ijra_2009.pdf
语种	英语
内容类型	期刊论文
源URL	[http://ir.siat.ac.cn:8080/handle/172644/2361]
专题	深圳先进技术研究院_集成所
作者单位	INTERNATIONAL JOURNAL OF ROBOTICS & AUTOMATION
推荐引用方式 GB/T 7714	B. Li,J. Zhao,X. Yang,et al. KINEMATIC ANALYSIS OF A NOVEL THREE DEGREE-OF-FREEDOM PLANAR PARALLEL MANIPULATOR[J]. INTERNATIONAL JOURNAL OF ROBOTICS & AUTOMATION,2009,24(2):158-165.
APA	B. Li,J. Zhao,X. Yang,&Y. Hu.(2009).KINEMATIC ANALYSIS OF A NOVEL THREE DEGREE-OF-FREEDOM PLANAR PARALLEL MANIPULATOR.INTERNATIONAL JOURNAL OF ROBOTICS & AUTOMATION,24(2),158-165.
MLA	B. Li,et al."KINEMATIC ANALYSIS OF A NOVEL THREE DEGREE-OF-FREEDOM PLANAR PARALLEL MANIPULATOR".INTERNATIONAL JOURNAL OF ROBOTICS & AUTOMATION 24.2(2009):158-165.