Novel Design of a 3-RRUU 6-DOF Parallel Manipulator

4th International Conference on Mechanical and Aeronautical Engineering

机械制造;航空航天工程

Yang, Zhongxing^1 ; Zhang, Dan^1

Department of Mechanical Engineering, Lassonde School of Engineering, York University, Toronto, Canada^1

关键词: 6-DOF parallel manipulators;    Cartesian coordinate system;    Co-ordinate system;    Cross product;    Design Principles;    Kinematic Analysis;    Link interference;    Transformation matrices;   

Others  :  https://iopscience.iop.org/article/10.1088/1757-899X/491/1/012006/pdf
DOI  :  10.1088/1757-899X/491/1/012006

学科分类：航空航天科学

来源: IOP

【 摘 要 】

A novel 3-RRUU 6-DOF parallel manipulator is designed based on the multi-plane design principle, that provides larger workspace, less chance of link interference and simplified kinematic analysis. The link interference detection by pentagon identification and cross-product is demonstrated. Workspace is optimized by different orientations. The Jacobian matrix by global cartesian coordinate system is developed. A transformation matrix could convert that to Jacobian matrix of a new coordinate system.