MATEC Web of Conferences
Volume 40, 20162015 International Conference on Mechanical Engineering and Electrical Systems (ICMES 2015)
|Number of page(s)||5|
|Section||Robot design and development|
|Published online||29 January 2016|
Kinematic Performances of a Novel TLPM Parallel Robot
School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, China
This paper investigates the kinematic performances of kinematics, Jacobian, singularity and interferences of a novel six-degree-of freedom (DOF) parallel manipulator. Analytical solutions of the forward position kinematics have been worked out. Three-dimensional Cartesian space generated by a stroke interval from lmin to lmax fulfils the point workspace are illustrated, and the reachable workspaces are obtained. The notion of pure translational Jacobian of constraint matrix is introduced, and two types of conventional singularities are analyzed. Finally, auxiliary vectors are introduced to determine the link interferences, shown that there are two kinds of interferences in the system, one is angle-interference in one limb, and the other is distance-interference in adjacent limbs.
© Owned by the authors, published by EDP Sciences, 2016
This is an Open Access article distributed under the terms of the Creative Commons Attribution License 4.0, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
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