TY - GEN
T1 - Kinematics analysis and simulation of a new 3 degrees of freedom spatial robot mechanism composed by closed chain
AU - Wang, Zeyang
AU - Zhao, Ziqiang
AU - Pang, Zhifeng
AU - Zhang, Chunlin
PY - 2011
Y1 - 2011
N2 - 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.
AB - 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.
KW - 3-DOF spatial mechanism
KW - Closed chain
KW - Direct position
KW - Inverse position
KW - Workspace
UR - http://www.scopus.com/inward/record.url?scp=80054830342&partnerID=8YFLogxK
U2 - 10.1109/MACE.2011.5987200
DO - 10.1109/MACE.2011.5987200
M3 - Conference contribution
AN - SCOPUS:80054830342
SN - 9781424494392
T3 - 2011 2nd International Conference on Mechanic Automation and Control Engineering, MACE 2011 - Proceedings
SP - 1373
EP - 1376
BT - 2011 2nd International Conference on Mechanic Automation and Control Engineering, MACE 2011 - Proceedings
T2 - 2011 2nd International Conference on Mechanic Automation and Control Engineering, MACE 2011
Y2 - 15 July 2011 through 17 July 2011
ER -