Geometric Approach for Kinematic Analysis of a Class of 2-DOF Rotational Parallel Manipulators

查看全文 作　　者：DONG [1]Xin;YU [1]Jingjun;CHEN [1]Bin;ZONG [1]Guanghua

机构地区：[1]Robotics Institute,Beihang University,Beijing 100191,China

出　　处：《Chinese Journal of Mechanical Engineering》索引2012年第25卷第2期,共7页

基　　金：supported by National Natural Science Foundation of China (Grant No. 50875008) 摘　　要：Euler angles are commonly used as the orientation representation of most two degrees of freedom(2-DOF) rotational parallel mechanisms(RPMs),as a result,the coupling of two angle parameters leads to complexity of kinematic model of this family of mechanisms.While a simple analytical kinematic model with respect to those parameters representing the geometrical characteristics of the mechanism,is very helpful to improve the performance of RPMs.In this paper,a new geometric kinematic modeling approach based on the concept of instantaneous single-rotation-angle is proposed and used for the 2-DOF RPMs with symmetry in a homo-kinetic plane.To authors' knowledge,this is a new contribution to parallel mechanisms.By means of this method,the forwards kinematics of 2-DOF RPMs is derived in a simple way,and three cases i.e.4-4R mechanism(Omni-wrist III),spherical five-bar one,and 3-RSR&1-SS one demonstrate the validity of the proposed geometric method.In addition,a novel 2-DOF RPM architecture with virtual center-of-motion is presented by aid of the same method.The result provides a useful tool for simplifying the model and extending the application of the RPMs. 关键词：运动学分析几何方法两自由度并联机器人运动学模型并行机制转动几何特征参数

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Geometric Approach for Kinematic Analysis of a Class of 2-DOF Rotational Parallel Manipulators

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