Kinematics analysis and simulation of a new 3 degrees of freedom spatial robot mechanism composed by closed chain

Zeyang Wang*, Ziqiang Zhao, Zhifeng Pang, Chunlin Zhang

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

6 Citations (Scopus)

Abstract

A new type of 3-DOF spatial mechanism composed by closed chain is proposed. The mechanism is constituted by two parallel four-bar linkages which are fixed on a moving platform. The moving platform can not only rotate around its own axis but also can translate along the axis. The four-bar linkage has a crank and does not have the quick-return characteristic. The mechanism has the features of symmetry, high stiffness and large workspace. The details of its kinematics have been described by using analytical method. Firstly, the closed-form solutions of both direct position and inverse position analysis are derived. Secondly, the velocity and acceleration analysis are derived. Thirdly, the boundaries of workspace are given. Lastly, a simulation of workspace in certain conditions will be given.

Original languageEnglish
Title of host publication2011 2nd International Conference on Mechanic Automation and Control Engineering, MACE 2011 - Proceedings
Pages1373-1376
Number of pages4
DOIs
Publication statusPublished - 2011
Event2011 2nd International Conference on Mechanic Automation and Control Engineering, MACE 2011 - Inner Mongolia, China
Duration: 15 Jul 201117 Jul 2011

Publication series

Name2011 2nd International Conference on Mechanic Automation and Control Engineering, MACE 2011 - Proceedings

Conference

Conference2011 2nd International Conference on Mechanic Automation and Control Engineering, MACE 2011
Country/TerritoryChina
CityInner Mongolia
Period15/07/1117/07/11

Keywords

  • 3-DOF spatial mechanism
  • Closed chain
  • Direct position
  • Inverse position
  • Workspace

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Wang, Z., Zhao, Z., Pang, Z., & Zhang, C. (2011). Kinematics analysis and simulation of a new 3 degrees of freedom spatial robot mechanism composed by closed chain. In 2011 2nd International Conference on Mechanic Automation and Control Engineering, MACE 2011 - Proceedings (pp. 1373-1376). Article 5987200 (2011 2nd International Conference on Mechanic Automation and Control Engineering, MACE 2011 - Proceedings). https://doi.org/10.1109/MACE.2011.5987200