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A Novel Three-DOF 3-RRRRR Parallel Platform Mechanism and Its Position Analysis

[+] Author Affiliations
Shihua Li, Zhen Huang, Jianguang Wu

Yanshan University, Qinhuangdao, Hebei, China

Paper No. DETC2005-84099, pp. 699-704; 6 pages
doi:10.1115/DETC2005-84099
From:
  • ASME 2005 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 7: 29th Mechanisms and Robotics Conference, Parts A and B
  • Long Beach, California, USA, September 24–28, 2005
  • Conference Sponsors: Design Engineering Division and Computers and Information in Engineering Division
  • ISBN: 0-7918-4744-6 | eISBN: 0-7918-3766-1
  • Copyright © 2005 by ASME

abstract

In order to enrich deficient-DOF parallel mechanism models, a novel model of a 3-DOF platform manipulator is presented and establish its inverse kinematics equation. Here, studies instantaneous motions of 3-RRRRR parallel manipulator at initial configuration and general configuration. Find: it has three degrees of freedom at initial configuration and after translated along the X, Y, Z axis. Secondly, the relation is given between every active input (θ1 ) and moving platform position by using D-H means, the solution is developed for inverse kinematics, numerical example for the position kinematic is presented, the figure of workspace along the Z-axis is drawn finally. The mechanism can be applied to jiggle mechanism.

Copyright © 2005 by ASME
Topics: Mechanisms

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