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Kinematics analysis and simulation of a new 3 degrees of freedom spatial robot mechanism composed by closed chain

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4 Author(s)
Wang Zeyang ; Sch. of Mech. Eng., Beijing Inst. of Technol., Beijing, China ; Zhao Ziqiang ; Pang Zhifeng ; Zhang ChunLin

A new type of 3-DOF spatial mechanism composed by closed chain is proposed. The mechanism is constituted by two parallel four-bar linkages which are fixed on a moving platform. The moving platform can not only rotate around its own axis but also can translate along the axis. The four-bar linkage has a crank and does not have the quick-return characteristic. The mechanism has the features of symmetry, high stiffness and large workspace. The details of its kinematics have been described by using analytical method. Firstly, the closed-form solutions of both direct position and inverse position analysis are derived. Secondly, the velocity and acceleration analysis are derived. Thirdly, the boundaries of workspace are given. Lastly, a simulation of workspace in certain conditions will be given.

Published in:

Mechanic Automation and Control Engineering (MACE), 2011 Second International Conference on

Date of Conference:

15-17 July 2011