| contributor author | Qiong Jin | |
| contributor author | Ting-Li Yang | |
| date accessioned | 2017-05-09T00:13:56Z | |
| date available | 2017-05-09T00:13:56Z | |
| date copyright | March, 2004 | |
| date issued | 2004 | |
| identifier issn | 1050-0472 | |
| identifier other | JMDEDB-27782#301_1.pdf | |
| identifier uri | http://yetl.yabesh.ir/yetl/handle/yetl/130549 | |
| description abstract | The kinematics decoupling for parallel manipulators is studied in this paper. Based on the topological structure characteristics of parallel mechanisms, the internal relationship between kinematics decoupling and basic kinematics chains is revealed, and the basic principle for structural synthesis of topologically decoupled mechanisms is put forward. Using this theory, a group of 3 degree-of-freedom (DOF) partially decoupled manipulators are synthesized. The expected kinematic outputs of these manipulators are 1-DOF translation and 2-DOF rotation, and motions along or about undesired directions do not exist. The kinematics analysis of a newly synthesized manipulator is discussed and the results indicate that the decoupling property of these architectures makes possible reaching real time control and path planning of parallel manipulators. | |
| publisher | The American Society of Mechanical Engineers (ASME) | |
| title | Synthesis and Analysis of a Group of 3-Degree-of-Freedom Partially Decoupled Parallel Manipulators | |
| type | Journal Paper | |
| journal volume | 126 | |
| journal issue | 2 | |
| journal title | Journal of Mechanical Design | |
| identifier doi | 10.1115/1.1666887 | |
| journal fristpage | 301 | |
| journal lastpage | 306 | |
| identifier eissn | 1528-9001 | |
| keywords | Kinematics | |
| keywords | Manipulators | |
| keywords | Mechanisms | |
| keywords | Parallel mechanisms AND Rotation | |
| tree | Journal of Mechanical Design:;2004:;volume( 126 ):;issue: 002 | |
| contenttype | Fulltext | |