Kinematic analysis of a flexible six-DOF parallel mechanism

	Kinematic analysis of a flexible six-DOF parallel mechanism
	Jing, Feng-Shui1 ; Tan, Min1 ; Hou, Zeng-Guang1 ; Liang, Zi-Ze1 ; Wang, Yun-Kuan1 ; Gupta, Madan M.2; Nikiforuk, Peter N.2
刊名	IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS PART B-CYBERNETICS
	2006-04-01
卷号	36 期号:2 页码:379-389
关键词	kinematics manipulator parallel mechanism robot under-actuated system
英文摘要	In this paper, a new type of six-degrees of freedom (DOF) flexible parallel mechanism (FPM) is presented. This type of parallel mechanism possesses several favorable properties: 1) its number of DOFs is independent of the number of serial chains which make up the mechanism; 2) it has no kinematical singularities; 3) it is designed to move on rails, and therefore its workspace is much larger than that of a conventional parallel manipulator; and 4) without changing the number of DOFs and the kinematics of the mechanisms, the number of the serial chains can be reconfigured according to the needs of the tasks. These properties make the mechanism very preferable in practice, especially for such tasks as joining huge ship blocks, in which the manipulated objects vary dramatically both in weights and dimensions. Furthermore, the mechanism can be used as either a fully actuated system or an underactuated system. In the fully actuated case, the mechanism has six DOF motion capabilities and manipulation capabilities. However, in the underactuated case, the mechanism still has six DOF motion capabilities, but it has only five DOF manipulation capabilities. In this paper, both the inverse and forward kinematics are studied and expressed in a closed form. The workspace and singularity analysis of the mechanism are also presented. An example is presented to illustrate how to calculate the kinematics of the mechanism in both fully-actuated and underactuated cases. Finally, an application of such a mechanism to manufacturing industry is introduced.
WOS标题词	Science & Technology ; Technology
类目[WOS]	Automation & Control Systems ; Computer Science, Artificial Intelligence ; Computer Science, Cybernetics
研究领域[WOS]	Automation & Control Systems ; Computer Science
关键词[WOS]	MANIPULATOR
收录类别	SCI
语种	英语
WOS记录号	WOS:000252227000011
公开日期	2015-12-24
内容类型	期刊论文
源URL	[http://ir.ia.ac.cn/handle/173211/9234]
专题	自动化研究所_09年以前成果
作者单位	1.Chinese Acad Sci, Inst Automat, Lab Complex Syst & Intelligent Sci, Beijing 100080, Peoples R China 2.Univ Saskatchewan, Coll Engn, Intelligent Syst Res Lab, Saskatoon, SK S7N 5A9, Canada
推荐引用方式 GB/T 7714	Jing, Feng-Shui,Tan, Min,Hou, Zeng-Guang,et al. Kinematic analysis of a flexible six-DOF parallel mechanism[J]. IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS PART B-CYBERNETICS,2006,36(2):379-389.
APA	Jing, Feng-Shui.,Tan, Min.,Hou, Zeng-Guang.,Liang, Zi-Ze.,Wang, Yun-Kuan.,...&Nikiforuk, Peter N..(2006).Kinematic analysis of a flexible six-DOF parallel mechanism.IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS PART B-CYBERNETICS,36(2),379-389.
MLA	Jing, Feng-Shui,et al."Kinematic analysis of a flexible six-DOF parallel mechanism".IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS PART B-CYBERNETICS 36.2(2006):379-389.