Workspace analysis of axial offset joint based on parameterization
文献类型：期刊论文
| 作者 | P. Li; H. Han; C. Liu; B. Ren; Q. Wu and Z. Xu |
| 刊名 | Robotica
 |
| 出版日期 | 2023 |
| 卷号 | 41期号:9页码:2882-2906 |
| ISSN号 | 02635747 |
| DOI | 10.1017/S0263574723000784 |
| 英文摘要 | The axial offset joint has two rotating axes that do not intersect but have a specific offset in space. It is used widely in parallel manipulators (PMs). The offset-joint workspace can directly affect the PM workspace. This study performed a theoretical derivation and workspace analysis of a class of axial offset joints. First, a theoretical parametric model describing the rotation range of the offset joint is established that considers the interference of the offset joint because of the contact between the upper- and lower-joint brackets during movement. Second, the analytical expressions of the offset-joint workspace are formulated based on the coordinate system transformation. The offset-joint workspace is theoretically calculated in this study using formulations. Then, through a comparative analysis, the superiority of the offset joint compared with the universal joint is verified. The theoretical formulations in this paper can be used to calculate the workspace of a class of axial offset joints. Finally, based on a workspace analysis of three types of PMs using offset, universal, and spherical joints, the offset-joint PM workspace is much larger than those of the other two types. © The Author(s), 2023. Published by Cambridge University Press. |
| URL标识 | 查看原文 |
| 源URL | [http://ir.ciomp.ac.cn/handle/181722/67630]  |
| 专题 | 中国科学院长春光学精密机械与物理研究所 |
| 推荐引用方式 GB/T 7714 | P. Li,H. Han,C. Liu,et al. Workspace analysis of axial offset joint based on parameterization[J]. Robotica,2023,41(9):2882-2906. |
| APA | P. Li,H. Han,C. Liu,B. Ren,&Q. Wu and Z. Xu.(2023).Workspace analysis of axial offset joint based on parameterization.Robotica,41(9),2882-2906. |
| MLA | P. Li,et al."Workspace analysis of axial offset joint based on parameterization".Robotica 41.9(2023):2882-2906. |
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