Kinematics Simulation of Planar 3-DOF Parallel Mechanism

DOI

10.2991/acaai-18.2018.35How to use a DOI?

Keywords

planar 3-dof parallel mechanism; kinematics simulation; Singular configuration point; kinematics performance

Abstract

First, this paper establishes a three-dimension simulation model of the planar 3-dof parallel mechanism, and realized its kinematics simulation;Second, the velocity and acceleration curves of the mechanism are simulated by differential method and influence coefficient method, and the Singular configuration point of the mechanism are confirmed; Finally, analyzing the Singular configuration point of the mechanism, and obtained The influence of mechanism size change on kinematics performance.First, this paper establishes a three-dimension simulation model of the planar 3-dof parallel mechanism, and realized its kinematics simulation;Second, the velocity and acceleration curves of the mechanism are simulated by differential method and influence coefficient method, and the Singular configuration point of the mechanism are confirmed; Finally, analyzing the Singular configuration point of the mechanism, and obtained The influence of mechanism size change on kinematics performance.

Copyright

© 2018, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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TY  - CONF
AU  - Chao Jia
AU  - Allam Maalla
AU  - Fanshu Kong
AU  - Xijuan Guo
PY  - 2018/03
DA  - 2018/03
TI  - Kinematics Simulation of Planar 3-DOF Parallel Mechanism
BT  - Proceedings of the 2018 International Conference on Advanced Control, Automation and Artificial Intelligence (ACAAI 2018)
PB  - Atlantis Press
SP  - 150
EP  - 154
SN  - 1951-6851
UR  - https://doi.org/10.2991/acaai-18.2018.35
DO  - 10.2991/acaai-18.2018.35
ID  - Jia2018/03
ER  -