{"title":"Research on kinematics and simulation of a three-DOF parallel manipulator","authors":"Hongjun Yang","doi":"10.1109/MACE.2011.5988231","DOIUrl":null,"url":null,"abstract":"A three-DOF parallel manipulator was presented in this paper, which is constituted with two platforms and three legs. The position transformational matrix was deduced and the normal and inverse pose solutions to the manipulator were analyzed. Then the kinematic Jacobian matrix and Hessian matrix were derived by the method of influence coefficient. The kinematics simulation of the mechanism was carried out and the result shows it has poor coupling on the directions of three movements, which is appropriate for leveling a platform.","PeriodicalId":6400,"journal":{"name":"2011 Second International Conference on Mechanic Automation and Control Engineering","volume":null,"pages":null},"PeriodicalIF":0.0000,"publicationDate":"2011-07-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"1","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"2011 Second International Conference on Mechanic Automation and Control Engineering","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/MACE.2011.5988231","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 three-DOF parallel manipulator was presented in this paper, which is constituted with two platforms and three legs. The position transformational matrix was deduced and the normal and inverse pose solutions to the manipulator were analyzed. Then the kinematic Jacobian matrix and Hessian matrix were derived by the method of influence coefficient. The kinematics simulation of the mechanism was carried out and the result shows it has poor coupling on the directions of three movements, which is appropriate for leveling a platform.
京公网安备 11010802042870号
京ICP备2023020795号-1
分享
求助内容：
应助结果提醒方式：
扫码关注我们
