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	Kinematics, dynamics and dimensional synthesis of a novel 2-DoF translational manipulator
	Liu, XJ ; Wang, QM ; Wang, JS
	2010-05-10 ; 2010-05-10
关键词	parallel manipulators parallel kinematics machine dynamics dimensional synthesis PARALLEL MANIPULATOR ROBOTIC MANIPULATORS SINGULARITY ANALYSIS DESIGN INDEX Computer Science, Artificial Intelligence Robotics
中文摘要	In the past few years, parallel manipulators have become increasingly popular in industry, especially, in the field of machine tools. In this paper, a novel 2-degree-of-freedom (DoF) parallel manipulator, which has two translational DoFs, is proposed. It is characterized by the fact that the output of the manipulator is two planar DoFs of a rigid body, while its orientation remains constant. The inverse and forward kinematics can be described in closed form. The velocity equation, singularity, and workspace of the manipulator are presented. In addition the inverse dynamics problem of the device is investigated employing the Lagrange multipliers approach. The dimensional synthesis based on the workspace and conditioning indices is presented. The proposed manipulator can be applied to the field of machine tools or used as the mobile base for a spatial manipulator. The results of the paper are very useful for the design and application of the new manipulator.
语种	英语 ; 英语
出版者	SPRINGER ; DORDRECHT ; VAN GODEWIJCKSTRAAT 30, 3311 GZ DORDRECHT, NETHERLANDS
内容类型	期刊论文
源URL	[http://hdl.handle.net/123456789/24896]
专题	清华大学
推荐引用方式 GB/T 7714	Liu, XJ,Wang, QM,Wang, JS. Kinematics, dynamics and dimensional synthesis of a novel 2-DoF translational manipulator[J],2010, 2010.
APA	Liu, XJ,Wang, QM,&Wang, JS.(2010).Kinematics, dynamics and dimensional synthesis of a novel 2-DoF translational manipulator..
MLA	Liu, XJ,et al."Kinematics, dynamics and dimensional synthesis of a novel 2-DoF translational manipulator".(2010).

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