Kinematics Analysis of 3-PUPU Parallel Robot

Niu Xiaohui; Sun Jianghong; Pan Shangfeng; Xu Liju

doi:10.16578/j.issn.1004.2539.2016.06.003

您当前的位置：

首页 >

文章列表页 >

Kinematics Analysis of 3-PUPU Parallel Robot

更新时间：2022-10-20

- Kinematics Analysis of 3-PUPU Parallel Robot
- Vol. 40, Issue 6, Pages: 12-17(2016)
- 作者机构：
  
  1. 北京信息科技大学机电工程学院
  2. 清华大学机械电子工程研究所
  3. 四川大学制造科学与工程学院
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2016.06.003
  CLC：
扫描看全文
[1]牛晓辉,孙江宏,潘尚峰,徐礼矩.3-PUPU并联机器人运动学分析[J].机械传动,2016,40(06):12-17.

Niu Xiaohui, Sun Jianghong, Pan Shangfeng, et al. Kinematics Analysis of 3-PUPU Parallel Robot. [J]. 40(6):12-17(2016)
[1]牛晓辉,孙江宏,潘尚峰,徐礼矩.3-PUPU并联机器人运动学分析[J].机械传动,2016,40(06):12-17. DOI： 10.16578/j.issn.1004.2539.2016.06.003.

Niu Xiaohui, Sun Jianghong, Pan Shangfeng, et al. Kinematics Analysis of 3-PUPU Parallel Robot. [J]. 40(6):12-17(2016) DOI： 10.16578/j.issn.1004.2539.2016.06.003.

摘要

提出一种3-PUPU并联机器人机构,结合其结构特点,利用螺旋理论分析了该并联机器人末端执行器的自由度,采用三点坐标法为该机器人建立运动学模型,再利用解析法对机器人末端执行器进行运动学分析研究。最后根据一组算例通过MATLAB仿真得出该并联机器人末端执行器的位移、速度、加速度曲线,对理论推导的正确性加以验证。

Abstract

A new 3-PUPU parallel robot is proposed,its mechanism characteristic is introduced. The degree of freedom of the parallel robot end executor is analyzed based on the screw theory,and the kinematics model of the robot is established by using the three coordinate method. The kinematics analysis and research of the robot end executor are carried out by using analytical method. Finally,according to a group of examples and using MATLAB,the displacement,velocity and acceleration of the parallel robot end actuator are got,and the correctness of the theory inference is validated.

关键词

并联机器人螺旋理论三点坐标法运动学分析

Keywords

Parallel micromanipulatorScrew theoryMethod of three coordinatesKinematics analysis

references

Views

189

下载量

CSCD

Alert me when the article has been cited

提交

Tools

Publicity Resources

Optimization Design and Kinematics Analysis of a Low DOF Parallel Mechanism

Design on a Hybrid Drive Feeding Mechanism of High-speed Industrial Sewing Machine

Design and Motion Analysis of an Automatic Retractable Manipulator for a Vehicle-mounted Wheelchair

Configuration Design and Kinematics Analysis of a New Type of a Quadruped Robot Leg Mechanism

Type Synthesis of 2T2R Parallel Mechanisms Based on Optimal Transmission

Related Author

No data

Related Institution

School of Mechanical Engineering, Nanjing University of Science and Technology

Jack Technology Co., Ltd.

Higher Vocational College, Taizhou Open University

Zhejiang Jack Intelligent Sewing Technology Co., Ltd.

School of Mechanical Engineering, Tiangong University

⁰