TY - GEN
T1 - Portable multi-axis CNC: A 3-CRU decoupled parallel robotic manipulator
AU - Zhang, Dan
AU - Gao, Zhen
AU - Qian, Jijie
PY - 2010
Y1 - 2010
N2 - This paper presents a lower mobility parallel manipulator with fully decoupled motions. The proposed parallel manipulator has 3-DOF and can be utilized as a portable multi-axis CNC for parts assembly and light machining tasks that require large workspace and high dexterity. The manipulator consists of a moving platform that is connected to a fixed base by three pairwise orthogonal legs which are comprised of one cylinder, one revolute and one universal joint respectively. The mobility of the manipulator and structure of the inactive joint are analyzed. Kinematics of the manipulator including inverse kinematics, forward kinematics, and velocity equation are deduced. A design optimization is developed to seek the maximal workspace with particle swarm algorithm. This advantage has great potential for machine tools and coordinate measuring machine.
AB - This paper presents a lower mobility parallel manipulator with fully decoupled motions. The proposed parallel manipulator has 3-DOF and can be utilized as a portable multi-axis CNC for parts assembly and light machining tasks that require large workspace and high dexterity. The manipulator consists of a moving platform that is connected to a fixed base by three pairwise orthogonal legs which are comprised of one cylinder, one revolute and one universal joint respectively. The mobility of the manipulator and structure of the inactive joint are analyzed. Kinematics of the manipulator including inverse kinematics, forward kinematics, and velocity equation are deduced. A design optimization is developed to seek the maximal workspace with particle swarm algorithm. This advantage has great potential for machine tools and coordinate measuring machine.
KW - Decoupled motion
KW - Dynamics simulation
KW - Kinematic modeling
KW - Parallel manipulator
KW - Prototype fabrication
UR - http://www.scopus.com/inward/record.url?scp=78650469836&partnerID=8YFLogxK
U2 - 10.1007/978-3-642-16584-9_41
DO - 10.1007/978-3-642-16584-9_41
M3 - Conference article published in proceeding or book
AN - SCOPUS:78650469836
SN - 3642165834
SN - 9783642165832
T3 - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
SP - 418
EP - 429
BT - Intelligent Robotics and Applications - Third International Conference, ICIRA 2010, Proceedings
T2 - 3rd International Conference on Intelligent Robotics and Applications, ICIRA 2010
Y2 - 10 November 2010 through 12 November 2010
ER -