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	A new family of spatial 3-DoF fully-parallel manipulators with high rotational capability
	Liu, XJ ; Wang, JS ; Pritschow, G
	2010-05-10 ; 2010-05-10
关键词	parallel manipulator rotational capability parallelogram kinematics singularity OPTIMUM KINEMATIC DESIGN ROBOT WORKSPACE ATLASES Engineering, Mechanical
中文摘要	Most fully-parallel manipulators encountered today have a common disadvantage, i.e., their low rotational capability. To overcome such a difficulty, this paper focuses its attention on the proposal of a new family of three-degree-of-freedom (3-DoF) fully-parallel manipulators capable of high rotational capability. Parallelogram allows the output link to remain at a fixed orientation with respect to an input link, for which it has many unique roles, especially when creating a desirable DoF output in the design of parallel manipulators. The role of a parallelogram herein described, is used completely for the design of a new parallel manipulator family. In this family, the moving platform of a parallel manipulator is connected to the base by three non-identical legs. The fact that all joints involved in the rotational DoF are with single DoF guarantees the high rotational capability performance of the manipulators. The parallel manipulators proposed here have wide applications in industrial robots, simulators, micro-motion manipulators, parallel kinematics machines, and any other manipulation devices that a high rotational capability is needed. The research provides a new design methodology of novel parallel manipulators. (c) 2004 Elsevier Ltd. All rights reserved.
语种	英语 ; 英语
出版者	PERGAMON-ELSEVIER SCIENCE LTD ; OXFORD ; THE BOULEVARD, LANGFORD LANE, KIDLINGTON, OXFORD OX5 1GB, ENGLAND
内容类型	期刊论文
源URL	[http://hdl.handle.net/123456789/25070]
专题	清华大学
推荐引用方式 GB/T 7714	Liu, XJ,Wang, JS,Pritschow, G. A new family of spatial 3-DoF fully-parallel manipulators with high rotational capability[J],2010, 2010.
APA	Liu, XJ,Wang, JS,&Pritschow, G.(2010).A new family of spatial 3-DoF fully-parallel manipulators with high rotational capability..
MLA	Liu, XJ,et al."A new family of spatial 3-DoF fully-parallel manipulators with high rotational capability".(2010).

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