Working Space and Motion Characteristics Analysis for a Novel Planar Parallel Manipulator with Three Driving Sliders

China Mechanical Engineering ›› 2011, Vol. 22 ›› Issue (13): 1597-1601.

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Working Space and Motion Characteristics Analysis for a Novel Planar Parallel Manipulator with Three Driving Sliders

Shen Huiping1;Wang Wei1;Deng Jiaming1;Luo Minzhou2;Ma Zhenghua1;Yang Tingli1

1.Changzhou University, Changzhou,Jiangsu,213016

2.Changzhou Institute of Advanced Manufacturing Technology, Changzhou, Jiangsu,213164

Online:2011-07-10 Published:2011-07-14
Supported by:

National Natural Science Foundation of China（No. 51075045，50875261）;
Key Technology R&D Program of Changzhou（No. CE20100050）

一种三滑块驱动平面并联手及其工作空间与位移特性分析

沈惠平1;王玮1;邓嘉鸣1;骆敏舟2;马正华1;杨廷力1

1.常州大学,常州,213016

2.常州先进制造技术研究所,常州,213164

基金资助:
国家自然科学基金资助项目(51075045，50875261)；江苏省重大科技支撑与自主创新项目(BE2010074，BE2010061)；常州市科技攻关项目(CE20100050)
National Natural Science Foundation of China（No. 51075045，50875261）;
Key Technology R&D Program of Changzhou（No. CE20100050）

Abstract

Abstract:

A novel practical planar parallel mechanism with three slides driving on the two guide rails was proposed and designed,and the positive and negative solutions were deduced. The working spaces analysis for the end-effector was conducted when it was in given position and orientations. The simulation of motion regulations and characteristics of actuator of the mechanism were also completed when it was in given orientation. A virtual prototype was also set up, which is useful for real-time control and industrial applications of this 3-DOF parallel manipulator.

Key words: slider, parallel mechanism, kinematics, workspace

摘要：

提出并设计一种简易实用三滑块在两个平行导轨上驱动的三自由度平面并联操作手,推导了该机构运动学正反解解析公式,分别分析了末端执行器在定位置和定姿态情况下的工作空间,仿真分析了定姿态时三滑块的运动规律及特性,并建立了三维模型。研究结果为该三自由度并联操作平台的实时控制及工业应用奠定了基础。

关键词:

滑块, 并联机构, 运动学, 工作空间

CLC Number:

TH11

CHEN Hui-Beng-1, WANG Wei-1, DENG Jia-Ming-1, JIA Min-Zhou-2, MA Zheng-Hua-1, YANG Ting-Li-1.

Working Space and Motion Characteristics Analysis for a Novel Planar Parallel Manipulator with Three Driving Sliders

[J]. China Mechanical Engineering, 2011, 22(13): 1597-1601.

沈惠平1, 王玮1, 邓嘉鸣1, 骆敏舟2, 马正华1, 杨廷力1.

一种三滑块驱动平面并联手及其工作空间与位移特性分析

[J]. 中国机械工程, 2011, 22(13): 1597-1601.

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Working Space and Motion Characteristics Analysis for a Novel Planar Parallel Manipulator with Three Driving Sliders

一种三滑块驱动平面并联手及其工作空间与位移特性分析

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