Advances in robotics research

  • 제1권2호
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  • Pages.141-154
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  • 2014
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  • 2287-4976(pISSN)
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  • 2287-4984(eISSN)
테크노프레스 (Techno-Press)
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Deformation analysis of a 3-DOF parallel manipulator with one or two additional branches

  • Chen, Xiaolei (Institute of Manufacturing Engineering, Department of Mechanical Engineering, Tsinghua University) ;
  • Wu, Jun (Institute of Manufacturing Engineering, Department of Mechanical Engineering, Tsinghua University) ;
  • Yu, Guang (Institute of Manufacturing Engineering, Department of Mechanical Engineering, Tsinghua University) ;
  • Wang, Liping (Institute of Manufacturing Engineering, Department of Mechanical Engineering, Tsinghua University)
  • 투고 : 2013.10.07
  • 심사 : 2013.12.22
  • 발행 : 2014.04.25
⟨ 이전 논문 다음 논문 ⟩

초록

Redundant parallel manipulators have some advantages over the nonredundant parallel manipulators. It is important to determine how many additional branches should be introduced. This paper studies whether one or two additional branches should be added to a 3-DOF parallel manipulator by comparing the flexible deformation of a 3-DOF parallel manipulator with one additional branch and that with two additional branches. The kinematic and dynamic models of the redundant parallel manipulator are derived and the flexible deformation is investigated. The flexible deformation of the manipulators with one additional branch and two branches is simulated and compared. This paper is helpful for designers to design a redundantly actuated parallel manipulator.

키워드

과제정보

연구 과제 주관 기관 : National Natural Science Foundation of China

참고문헌

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