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Analysis of kinematics and statics for a novel 6-DoF parallel mechanism with three planar mechanism limbs

Published online by Cambridge University Press:  31 July 2014

Yi Lu ,
Xuepeng Li ,
Canguo Zhang  and
Yang Liu
Yi Lu*
Affiliation:
Robotics Research Center, College of Mechanical Engineering, Yanshan University, Qinhuangdao, Hebei 066004, P. R. China Parallel Robot and Mechatronic System Laboratory of Hebei Province, Key Laboratory of Advanced Forging & Stamping Technology and Science of Ministry of National Education, Qinhuangdao, Hebei, 066004, P. R. China
Xuepeng Li
Affiliation:
Robotics Research Center, College of Mechanical Engineering, Yanshan University, Qinhuangdao, Hebei 066004, P. R. China
Canguo Zhang
Affiliation:
Robotics Research Center, College of Mechanical Engineering, Yanshan University, Qinhuangdao, Hebei 066004, P. R. China
Yang Liu
Affiliation:
Robotics Research Center, College of Mechanical Engineering, Yanshan University, Qinhuangdao, Hebei 066004, P. R. China
*
*Corresponding author. E-mail: luyi@ysu.edu.cn
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Summary

A novel 6-degree-of-freedom (DoF) parallel manipulator with three planar mechanism limbs is proposed and its kinematics and statics are analyzed systematically. First, the characteristics of the proposed manipulator are analyzed and the degree of freedom is calculated. Second, the formulae for solving the displacement, the velocity, and the acceleration are derived. Third, an analytic example is given for solving the kinematics and statics of this manipulator, and the analytic solved results are analyzed and verified by the simulation mechanism. Finally, a workspace is constructed and analyzed based on a comparison between the proposed manipulator and another 6-DoF parallel manipulator.

Keywords

Parallel manipulatorPlanar mechanism limbsKinematics
Type
Articles
Information
Robotica , Volume 34 , Issue 4 , April 2016 , pp. 957 - 972
Copyright
Copyright © Cambridge University Press 2014 

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