Configuration Analysis and Design of a Multidimensional Tele-operator Based on a 3-P(4S) Parallel Mechanism

Xiao Xiao, Yangmin Li, Xiaoming Wang

Research output: Journal article publicationJournal articleAcademic researchpeer-review

4 Citations (Scopus)

Abstract

Based on configuration analysis, different types of 3-P(4S) parallel mechanisms are designed and introduced in this paper. Application issues of parallel mechanisms are discussed and a double 3-P(4S) mechanism-based tele-operator is illustrated. Inverse and forward kinematics of the single 3-P(4S) parallel mechanism are derived and solved via MATLAB software; based on it, the workspace of the 3-P(4S) parallel mechanism is investigated. The relationship between the distribution angle of kinematic chain and volume of the workspace is derived, and the shapes of the workspace of single and double 3-P(4S) parallel mechanisms are plotted. A prototype is developed and an interactive simulation system is established based on SolidWorks and LabVIEW software. Testing results indicate that the proposed tele-operator can well perform tele-operation tasks. This research work lays a good basis for performances evaluation and parameter optimization of 3-P(4S) mechanisms. Besides, it provides new ideas for the applications of parallel mechanisms.
Original languageEnglish
Pages (from-to)339-348
Number of pages10
JournalJournal of Intelligent and Robotic Systems: Theory and Applications
Volume90
Issue number3-4
DOIs
Publication statusPublished - 1 Jun 2018

Keywords

  • Configuration analysis
  • Interactive control
  • Parallel mechanism
  • Tele-operator

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Mechanical Engineering
  • Industrial and Manufacturing Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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