Forward Position Analysis of the 3-DOF Module of the TriVariant: A 5-DOF Reconfigurable Hybrid Robot

Meng Li; Tian Huang; Derek G. Chetwynd; S. Jack Hu

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Forward Position Analysis of the 3-DOF Module of the TriVariant: A 5-DOF Reconfigurable Hybrid Robot

机译：TriVariant的3自由度模块的前向位置分析：5自由度可重构混合机器人

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This paper deals with the forward position analysis of a 3-DOF parallel mechanism module, which forms the main body of a 5-DOF reconfigurable hybrid robot named TriVariant. The TriVariant is a modified version of the Tricept robot, achieved by integrating one of the three active limbs into the passive one. The analytical method is employed to obtain the forward position solutions. It shows that the forward position analysis of the TriVariant is much simpler than that of the Tricept.

机译：本文研究了3-DOF并联机构模块的前向位置分析，该模块构成了名为TriVariant的5-DOF可重构混合机器人的主体。 TriVariant是Tricept机器人的改良版，通过将三个主动肢体之一集成到被动肢体中来实现。该分析方法用于获得前向位置解。它表明TriVariant的前向位置分析比Tricept的前向位置分析要简单得多。

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《Journal of Mechanical Design》 |2006年第1期|p.319-322|共4页
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Meng Li; Tian Huang; Derek G. Chetwynd; S. Jack Hu;
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1. Conceptual design and dimensional synthesis for a 3-DOF module of the TriVariant-a novel 5-DOF reconfigurable hybrid robot [J] . Huang T., Li M., Zhao X.M., IEEE Transactions on Robotics . 2005,第3期

机译：TriVariant的3自由度模块的概念设计和尺寸综合-一种新颖的5自由度可重构混合机器人
2. Dynamic Formulation and Performance Comparison of the 3-DOF Modules of Two Reconfigurable PKM—the Tricept and the TriVariant [J] . Meng Li, Tian Huang, Jiangping Mei, Journal of Mechanical Design . 2005,第6期

机译：两个可重构PKM（Tricept和TriVariant）的3-DOF模块的动态公式化和性能比较
3. Enhancement of positioning accuracy of industrial robots with a reconfigurable fine-positioning module [J] . Josef Sulzer, Igor Kovac Precision Engineering . 2010,第2期

机译：通过可重新配置的精细定位模块提高工业机器人的定位精度
4. Kinematic Calibration of the 3-DOF Module of a 5-DOF Reconfigurable Hybrid Robot using a Double-Ball-Bar System [C] . T. Huang, Z.Y. Hong, J. P. Mei, IEEE/RSJ International Conference on Intelligent Robots and Systems . 2006

机译：使用双球杆系统的5-DOF可重新配置混合机器人3-DOF模块的运动校准
5. Reconfigurable robots using parallel platforms as modules. [D] . Badescu, Mircea. 2003

机译：使用并行平台作为模块的可重构机器人。
6. Robotic Assistance for Upper Limbs May Induce Slight Changes in Motor Modules Compared With Free Movements in Stroke Survivors: A Cluster-Based Muscle Synergy Analysis [O] . Alessandro Scano, Andrea Chiavenna, Matteo Malosio, 2018

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7. Stiffness modeling and analysis of a novel 5-DOF hybrid robot [O] . Chenglin Dong, Haitao Liu, Wei Yue, 2018

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8. Method and apparatus for hybrid position/force control of multi-arm cooperating robots [R] . 1989

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Forward Position Analysis of the 3-DOF Module of the TriVariant: A 5-DOF Reconfigurable Hybrid Robot

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