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2015 | OriginalPaper | Buchkapitel

Comparative Study on the Kinematic and Static Performance of Two 1T2R Parallel Manipulators

verfasst von : Binbin Lian, Hélène Chanal, Yan Jin

Erschienen in: Recent Advances in Mechanism Design for Robotics

Verlag: Springer International Publishing

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Abstract

Focusing on the potential of one translational and two rotational (1T2R) parallel kinematic machines (PKMs) for high precision manufacturing, this paper carried out the first time a comparative study on the kinematic and static performance of two promising Exechon variants, named PAW and PAW-II. PAW has the topology with 2RPU-SPR while the topology of PAW-II is 2RPU-RPS. Herein, R, U, P, S denote revolute joint, universal joint, actuated prismatic joint and spherical joint, respectively. After introducing their architectures and inverse kinematics, two key performance characteristics, i.e. workspace and stiffness were conducted for the two PKMs. Comparative results show that PAW has a smaller workspace but better stiffness performance comparing to PAW-II.

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Vorheriges Kapitel Dynamic Modeling of Flexible Robot Manipulators: Acceleration-Based Discrete Time Transfer Matrix Method

Nächstes Kapitel Forward Kinematic Model of a New Spherical Parallel Manipulator Used as a Master Device

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Titel: Comparative Study on the Kinematic and Static Performance of Two 1T2R Parallel Manipulators
verfasst von: Binbin Lian
Hélène Chanal
Yan Jin
Verlag: Springer International Publishing
Buch: Recent Advances in Mechanism Design for Robotics
Print ISBN: 978-3-319-18125-7

Electronic ISBN: 978-3-319-18126-4

Copyright-Jahr: 2015
DOI: https://doi.org/10.1007/978-3-319-18126-4_37

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