Kinematic analysis of a new 6SS parallel manipulator performing a certain working operation

8th International Conference on Advanced Concepts in Mechanical Engineering

Milica, L.^1 ; Nstase, A.^1 ; Andrei, G.^1

Mechanical Engineering Department, Dunarea de Jos University of Galati, Galati, Romania^1

关键词: Kinematic Analysis;    Kinematic chain;    Mobile platform;    Parallel manipulators;    Parallel mechanisms;    Restriction methods;    Six degrees of freedom;    Spherical joint;   

Others  :  https://iopscience.iop.org/article/10.1088/1757-899X/444/5/052012/pdf
DOI  :  10.1088/1757-899X/444/5/052012

来源: IOP

【 摘 要 】

This paper presents the kinematic analysis of a new type of 6RSS parallel manipulator with six degrees of freedom. The parallel manipulator consists of a fixed plate and a mobile platform connected through six independent kinematic chains. Each of the six kinematic chains has an actuator revolute joint and two spherical joint. The kinematic analysis was done by applying the restriction method. The motion equations for the six kinematic chains of the parallel mechanism have been defined when it performs a certain technological function. Also kinematic analysis was done using a CAD softwere and the variation of the angular speeds of the actuating arms were obtained.