TY - GEN
T1 - Kinematics analysis of a four degree-of-freedom parallel manipulator
AU - Zhang, Chao
AU - Li, Bin
AU - Zhao, Xinhua
AU - Li, Yangmin
PY - 2018/3/23
Y1 - 2018/3/23
N2 - In this paper, a 2-RPU&2-SPS parallel mechanism is studied. Firstly, the number and property of degrees of freedom of the mechanism are confirmed base on the screw theory, this mechanism can realize two rotational and two translational movement. Secondly, the position analyses are invested. For the inverse position analysis, the only expressions are obtained in an explicit form, and the forward position problem is solved by calculating a set of non-linear equation system. Then, the singularity analyses of the mechanism are acquired by Jacobian matrix of the parallel manipulator. Finally, the kinematic transmission performance analyses of the mechanism have been analyzed by defining transmission efficiency coefficient between limbs. This work will provide the theoretical basis for prototype development and application of the mechanism.
AB - In this paper, a 2-RPU&2-SPS parallel mechanism is studied. Firstly, the number and property of degrees of freedom of the mechanism are confirmed base on the screw theory, this mechanism can realize two rotational and two translational movement. Secondly, the position analyses are invested. For the inverse position analysis, the only expressions are obtained in an explicit form, and the forward position problem is solved by calculating a set of non-linear equation system. Then, the singularity analyses of the mechanism are acquired by Jacobian matrix of the parallel manipulator. Finally, the kinematic transmission performance analyses of the mechanism have been analyzed by defining transmission efficiency coefficient between limbs. This work will provide the theoretical basis for prototype development and application of the mechanism.
UR - http://www.scopus.com/inward/record.url?scp=85049944915&partnerID=8YFLogxK
U2 - 10.1109/ROBIO.2017.8324668
DO - 10.1109/ROBIO.2017.8324668
M3 - Conference article published in proceeding or book
AN - SCOPUS:85049944915
T3 - 2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017
SP - 1731
EP - 1736
BT - 2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017
Y2 - 5 December 2017 through 8 December 2017
ER -