Kinematics of a partially decoupled 3R2T symmetrical parallel manipulator 3-RCRR
文献类型：期刊论文
| 作者 | Zhu SJ(朱思俊) ; Huang Z(黄真); Zhao MY(赵明扬)
|
| 刊名 | Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science
 |
| 出版日期 | 2008 |
| 卷号 | 222期号:2页码:277-285 |
| 关键词 | kinematics bionics five-DoF parallel manipulator 3-RCRR |
| ISSN号 | 0954-4062 |
| 产权排序 | 1 |
| 通讯作者 | 朱思俊 |
| 中文摘要 | The 3R2T (three rotational and two independent translational degree of freedom (DoF)) symmetrical parallel manipulator may be adopted in bionics, for example, simulating the motion of a cervical spine based on their mobility property and performance close to isotropic limit. However, up to now, characteristics of this class of manipulators have not been well studied because of its short history. Hence, to study the feasibility of this class of manipulator for bionics, kinematics for 3-RCRR is analysed including position, singularity, velocity, and acceleration. Different from other 3R2T 5-DoF symmetrical parallel manipulators, the mobility of 3-RCRR is partially decoupled, which makes the realization of control system easier than in others. |
| 收录类别 | EI |
| 语种 | 英语 |
| 源URL | [http://ir.sia.cn/handle/173321/19910]  |
| 专题 | 沈阳自动化研究所_装备制造技术研究室 |
| 推荐引用方式 GB/T 7714 | Zhu SJ,Huang Z,Zhao MY. Kinematics of a partially decoupled 3R2T symmetrical parallel manipulator 3-RCRR[J]. Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science,2008,222(2):277-285. |
| APA | Zhu SJ,Huang Z,&Zhao MY.(2008).Kinematics of a partially decoupled 3R2T symmetrical parallel manipulator 3-RCRR.Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science,222(2),277-285. |
| MLA | Zhu SJ,et al."Kinematics of a partially decoupled 3R2T symmetrical parallel manipulator 3-RCRR".Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science 222.2(2008):277-285. |
入库方式： OAI收割
来源：沈阳自动化研究所
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