Design and Analysis of Three-DOF Parallel Manipulator Controlled by Cam

Ge Zhenghao; Han Xiaoyu; Wang Zhilong

doi:10.16578/j.issn.1004.2539.2018.02.015

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Design and Analysis of Three-DOF Parallel Manipulator Controlled by Cam

更新时间：2022-10-20

- Design and Analysis of Three-DOF Parallel Manipulator Controlled by Cam
- Vol. 42, Issue 2, Pages: 81-86(2018)
- 作者机构：
  
  1. 陕西科技大学
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2018.02.015
  CLC：
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[1]葛正浩,韩啸宇,王志龙.凸轮控制的三自由度并联机械手的设计与分析[J].机械传动,2018,42(02):81-86.

Ge Zhenghao, Han Xiaoyu, Wang Zhilong. Design and Analysis of Three-DOF Parallel Manipulator Controlled by Cam. [J]. 42(2):81-86(2018)
[1]葛正浩,韩啸宇,王志龙.凸轮控制的三自由度并联机械手的设计与分析[J].机械传动,2018,42(02):81-86. DOI： 10.16578/j.issn.1004.2539.2018.02.015.

Ge Zhenghao, Han Xiaoyu, Wang Zhilong. Design and Analysis of Three-DOF Parallel Manipulator Controlled by Cam. [J]. 42(2):81-86(2018) DOI： 10.16578/j.issn.1004.2539.2018.02.015.

摘要

基于并联机构理论设计了一种凸轮控制的单动力输入三自由度并联机械手,对其进行运动学研究,完成了该机械手的自由度分析、求得运动学正逆解。在此基础上,完成了凸轮的参数化设计。最后用Pro/E进行运动学仿真,验证了设计的正确性,为机械手的速度、加速度模型的建立,工作空间以及奇异性分析提供理论依据。

Abstract

A single-input three-DOF parallel manipulator controlled by cam is designed based on the parallel mechanism theory. And then the kinematics study is carried out,the analysis of the freedom of the manipulator is completed,the kinematic forward solutions and kinematic inverted solutions are worked out. On this basis,the parametric design of the cam is completed. Finally,by using the kinematics simulation with Pro/E,the correctness of the design is verified,the theoretical basis for the establishment of manipulator speed and acceleration model,workspace and singularity analysis is provided.

关键词

凸轮并联机械手运动学分析运动学仿真

Keywords

CamParallel manipulatorKinematics analysisKinematics simulation

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