Kinematic Analysis and Simulation of a Novel 2T1R Parallel Mechanism

DOI

10.2991/icmmct-16.2016.95How to use a DOI?

Keywords

parallel manipulator, kinematic analysis, virtual prototype, simulation

Abstract

In this research work, a novel spatial parallel manipulator with three degrees of freedom (DOF) is proposed. The moving platform has two-translation and one-rotational DOFs with respect to the fixed base. Based on the position and orientation characteristics (POC) theory, the number of the DOF is computed and the output motion characteristics of the parallel mechanism are analyzed. The formulas for solving position and orientation of the platform are derived. By using the kinematic influence coefficient method, solutions of the forward/inverse velocity and acceleration are derived. The virtual prototype model of the 2T1R parallel manipulator is established by use of Pro/E software. At last, the position, velocity and acceleration curves are described based on ADAMS software.

Copyright

© 2016, 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  - Ding Ding
AU  - Yanbin Zhang
AU  - Xin Wu
AU  - Zenghui Wang
PY  - 2016/03
DA  - 2016/03
TI  - Kinematic Analysis and Simulation of a Novel 2T1R Parallel Mechanism
BT  - Proceedings of the 2016 4th International Conference on Machinery, Materials and Computing Technology
PB  - Atlantis Press
SP  - 476
EP  - 482
SN  - 2352-5401
UR  - https://doi.org/10.2991/icmmct-16.2016.95
DO  - 10.2991/icmmct-16.2016.95
ID  - Ding2016/03
ER  -