TY - GEN
T1 - Kinematic analysis of a novel single-loop generalized parallel manipulator with a compact traveling platform for Schönflies motion
AU - Wang, Lin
AU - Fang, Yuefa
AU - Zhang, Dan
N1 - Publisher Copyright:
© 2022 IEEE.
PY - 2022/10
Y1 - 2022/10
N2 - This study introduces a novel single-loop generalized parallel manipulator with a compact traveling platform for Schönflies motion. The manipulator only consists of lower joints and has a simple structure. By using the compact articulated moving platform, the manipulator possesses a fairly large workspace and unlimited rotational capability. A 2-DOF driving system is adopted in both two serial kinematic chains. Thus, the performance problems caused by the moving actuators are addressed and the manipulator has a small footprint. Some kinematic issues are studied, like position analysis, workspace and singularity. Lastly, the condition number of the homogeneous Jacobian matrix rendered as the dexterity is studied. The proposed manipulator has several potential applications, such as pick and place, assembly of electronic components, surface mounting or fabric cutting.
AB - This study introduces a novel single-loop generalized parallel manipulator with a compact traveling platform for Schönflies motion. The manipulator only consists of lower joints and has a simple structure. By using the compact articulated moving platform, the manipulator possesses a fairly large workspace and unlimited rotational capability. A 2-DOF driving system is adopted in both two serial kinematic chains. Thus, the performance problems caused by the moving actuators are addressed and the manipulator has a small footprint. Some kinematic issues are studied, like position analysis, workspace and singularity. Lastly, the condition number of the homogeneous Jacobian matrix rendered as the dexterity is studied. The proposed manipulator has several potential applications, such as pick and place, assembly of electronic components, surface mounting or fabric cutting.
KW - dexterity
KW - kinematics
KW - parallel manipulator
KW - Schönflies motion
KW - singularity
UR - http://www.scopus.com/inward/record.url?scp=85142434819&partnerID=8YFLogxK
U2 - 10.1109/ICMEAS57305.2022.00025
DO - 10.1109/ICMEAS57305.2022.00025
M3 - Conference article published in proceeding or book
AN - SCOPUS:85142434819
T3 - Proceedings - 2022 8th International Conference on Mechanical Engineering and Automation Science, ICMEAS 2022
SP - 87
EP - 93
BT - Proceedings - 2022 8th International Conference on Mechanical Engineering and Automation Science, ICMEAS 2022
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 8th International Conference on Mechanical Engineering and Automation Science, ICMEAS 2022
Y2 - 14 October 2022 through 16 October 2022
ER -