A 6-DOF adaptive parallel manipulator with large tilting capacity

	A 6-DOF adaptive parallel manipulator with large tilting capacity
	Hailin Huang; Bing Li; Zongquan Deng; Ying Hu
刊名	ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING
	2012
英文摘要	In this paper, a novel 6 degrees of freedom (DOFs) adaptive parallel manipulator with large tilting capacity is presented. The manipulator consists of four identical peripheral limbs and one center limb connecting the base and the moving platform. Due to the special architecture, the doubly actuated center limb of the manipulator could have infinite inverse solutions. In every configuration of the end-effector, the manipulator can adapt its center limb to the position and orientation with best dexterity. An optimization equation for obtaining the optimized dexterity of the manipulator is introduced to solve this nonholonomic problem, which also makes the manipulator capable of large tilting capacity. Targeting for the application of five-face machining, the detailed kinematic analysis of the manipulator is developed, which includes the closed-form solutions of inverse position problems, the singularity, dexterity, workspace and tiltingcapability. The analysis developed in this paper shows that the proposed manipulator has large tilting capacity and thus a suitable candidate for five-face machining.
收录类别	SCI
原文出处	http://www.sciencedirect.com/science/article/pii/S0736584511001177
语种	英语
内容类型	期刊论文
源URL	[http://ir.siat.ac.cn:8080/handle/172644/3741]
专题	深圳先进技术研究院_集成所
作者单位	ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING
推荐引用方式 GB/T 7714	Hailin Huang,Bing Li,Zongquan Deng,et al. A 6-DOF adaptive parallel manipulator with large tilting capacity[J]. ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING,2012.
APA	Hailin Huang,Bing Li,Zongquan Deng,&Ying Hu.(2012).A 6-DOF adaptive parallel manipulator with large tilting capacity.ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING.
MLA	Hailin Huang,et al."A 6-DOF adaptive parallel manipulator with large tilting capacity".ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING (2012).