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Kinematic analysisand optimal design of a novel 1T3R parallel manipulator with an articulated travelling plate
Tianjin Univeristy.
Tianjin University.
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2014 (English)In: Robotics and Computer-Integrated Manufacturing, ISSN 0736-5845, E-ISSN 1879-2537, Vol. 30, no 5, p. 508-516Article in journal (Refereed) Published
Abstract [en]

Driven by the requirements of the large-scale component assemblage for the docking platform, this paper proposes a novel one-translational-three-rotational (1T3R) parallel manipulator with an articulated travelling plate, which can provide high stiffness and good accuracy performances in the assemblage. The underlying architecture of this manipulator is briefly addressed with emphasis on the practical realization of the articulated travelling plate. On the basis of the kinematic analysis of the 1T3R parallel manipulator, its optimal design considering the force and motion transmissibility is carried out, in which the generalized virtual power transmissibility of this manipulator is defined. This paper aims at laying a solid theoretical and technical foundation for the prototype design and manufacture of the 1T3R parallel manipulator.

Place, publisher, year, edition, pages
Elsevier, 2014. Vol. 30, no 5, p. 508-516
Keywords [en]
Parallel manipulator, Articulated travelling plate, Kinematic analysis, Optimal design
National Category
Computer Systems
Identifiers
URN: urn:nbn:se:kth:diva-249530DOI: 10.1016/j.rcim.2014.03.006ISI: 000337854300011Scopus ID: 2-s2.0-84899658652OAI: oai:DiVA.org:kth-249530DiVA, id: diva2:1304602
Note

QC 20190628

Available from: 2019-04-12 Created: 2019-04-12 Last updated: 2019-06-28Bibliographically approved

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Lian, Binbin
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