{"title":"Novel Design of a 3T2R 5-DOF Parallel Manipulator","authors":"Zhongxing Yang, Dan Zhang","doi":"10.1115/detc2019-97088","DOIUrl":null,"url":null,"abstract":"\n A novel 5-DOF 3T2R parallel manipulator is designed with chains in perpendicular planes. The synthesis is based on motion sets intersection and disseminated Chebychev-Grübler-Kutzbach formula. A boundary offset method is developed to detect link interference. Multi-objective optimization is practiced on the design for improved performances. Stiffness based on oriented platform coordinate is developed. This paper also discusses the potential applications of the design.","PeriodicalId":211780,"journal":{"name":"Volume 5B: 43rd Mechanisms and Robotics Conference","volume":"4 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2019-11-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"1","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Volume 5B: 43rd Mechanisms and Robotics Conference","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1115/detc2019-97088","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 1
Abstract
A novel 5-DOF 3T2R parallel manipulator is designed with chains in perpendicular planes. The synthesis is based on motion sets intersection and disseminated Chebychev-Grübler-Kutzbach formula. A boundary offset method is developed to detect link interference. Multi-objective optimization is practiced on the design for improved performances. Stiffness based on oriented platform coordinate is developed. This paper also discusses the potential applications of the design.
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