{"title":"三自由度并联机械臂运动学与仿真研究","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":"147 1","pages":"5112-5115"},"PeriodicalIF":0.0000,"publicationDate":"2011-07-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"1","resultStr":"{\"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\":\"147 1\",\"pages\":\"5112-5115\"},\"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}","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}
Research on kinematics and simulation of a three-DOF parallel manipulator
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.
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