Kinematic Analysis and Simulation of a Novel 2T1R Parallel Mechanism
Ding Ding, Yanbin Zhang, Xin Wu, Zenghui Wang
Available Online March 2016.
- https://doi.org/10.2991/icmmct-16.2016.95How to use a DOI?
- parallel manipulator, kinematic analysis, virtual prototype, simulation
- 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.
- Open Access
- This is an open access article distributed under the CC BY-NC license.
Cite this article
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 - https://doi.org/10.2991/icmmct-16.2016.95 ID - Ding2016/03 ER -