Type Synthesis and Kinematics Performance Analysis of a Class of 3T2R Parallel Mechanisms with Large Output Rotational Angles
文献类型：期刊论文
| 作者 | Bing-Shan Jiang; Hai-Rong Fang; Hai-Qiang Zhang |
| 刊名 | International Journal of Automation and Computing
 |
| 出版日期 | 2019 |
| 卷号 | 16期号:6页码:775-785 |
| 关键词 | Type synthesis Lie group theory configuration evolution kinematics performance evaluation. |
| ISSN号 | 1476-8186 |
| DOI | 10.1007/s11633-019-1192-9 |
| 英文摘要 | Based on Lie group theory and the integration of configuration, a class of 3T2R (T denotes translation and R denotes rotation) parallel mechanisms with large output rotational angles is synthesized through a five degree of freedom single limb evolving into two five degree of freedom limbs and constraint coupling of each kinematics chain. A kind of 3T2R parallel mechanisms with large rotational angles was selected from type synthesis of 3T2R parallel mechanisms, inverse kinematics and velocity Jacobian matrix of the parallel mechanism are established. The performance indices including workspace, rotational capacity, singularity and dexterity of the parallel mechanism are analyzed. The results show that the parallel mechanism has not only large output rotational angles but also better dexterity. |
| 源URL | [http://ir.ia.ac.cn/handle/173211/42374]  |
| 专题 | 自动化研究所_学术期刊_International Journal of Automation and Computing |
| 作者单位 | School of Mechanical, Electronic and Control Engineering, Beijing Jiaotong University, Beijing 100044, China |
| 推荐引用方式 GB/T 7714 | Bing-Shan Jiang,Hai-Rong Fang,Hai-Qiang Zhang. Type Synthesis and Kinematics Performance Analysis of a Class of 3T2R Parallel Mechanisms with Large Output Rotational Angles[J]. International Journal of Automation and Computing,2019,16(6):775-785. |
| APA | Bing-Shan Jiang,Hai-Rong Fang,&Hai-Qiang Zhang.(2019).Type Synthesis and Kinematics Performance Analysis of a Class of 3T2R Parallel Mechanisms with Large Output Rotational Angles.International Journal of Automation and Computing,16(6),775-785. |
| MLA | Bing-Shan Jiang,et al."Type Synthesis and Kinematics Performance Analysis of a Class of 3T2R Parallel Mechanisms with Large Output Rotational Angles".International Journal of Automation and Computing 16.6(2019):775-785. |
入库方式： OAI收割
来源：自动化研究所
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