| Structure and kinematic analysis of a novel 2-DOF translational parallel robot | |
| Chen Tao ; Wu Chao ; Liu Xinjun | |
| 2010-05-10 ; 2010-05-10 ; OCT | |
| 关键词 | parallel robot degree of freedom kinematics workspace DIMENSIONAL SYNTHESIS Multidisciplinary Sciences |
| 中文摘要 | This paper addresses the analysis of a novel parallel robot with 2 translational degrees of freedom (DOFs). The robot can position a rigid body in a plane with constant orientation. The kinematic structure of the robot is first described in detail. Some kinematic problems, such as the inverse and forward kinematics, velocity, and singularity are then analyzed. The working and assembly modes are discussed. Since it is the most important index to design a robot, the workspace of the robot is studied systematically in this paper. Based on the analysis of reachable workspace and singularity, a kind of workspace concept characterizing the region that the end-effector of the robot can reach in practice is defined. The results of this paper will be very useful for the design and application of the robot. |
| 语种 | 英语 ; 英语 |
| 出版者 | ELSEVIER SCIENCE INC ; NEW YORK ; 360 PARK AVE SOUTH, NEW YORK, NY 10010-1710 USA |
| 内容类型 | 期刊论文 |
| 源URL | [http://hdl.handle.net/123456789/25338]  |
| 专题 | 清华大学 |
| 推荐引用方式 GB/T 7714 | Chen Tao,Wu Chao,Liu Xinjun. Structure and kinematic analysis of a novel 2-DOF translational parallel robot[J],2010, 2010, OCT. |
| APA | Chen Tao,Wu Chao,&Liu Xinjun.(2010).Structure and kinematic analysis of a novel 2-DOF translational parallel robot.. |
| MLA | Chen Tao,et al."Structure and kinematic analysis of a novel 2-DOF translational parallel robot".(2010). |
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