On the workspace of spatial parallel manipulator with multi-translational degrees of freedom

Jing-Shan Zhao; Zhi-Jing Feng; Kai Zhou

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On the workspace of spatial parallel manipulator with multi-translational degrees of freedom

机译：具有多平移自由度的空间并联机械手的工作空间

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摘要

This paper presents a new simple but effective algebra-geometry methodology to investigate the workspace of spatial parallel manipulators based on the analysis of its degree of freedom (DoF). Through coordinate transformation, we depict the geometric relationships with a set of parameter equations, which should be widely adapted to address the workspace of spatial parallel manipulators with multi-translational DoF. We also point out that the workspace of certain spatial parallel manipulators can be large enough rather than very small for applications.

机译：本文提出了一种新的简单但有效的代数几何方法，以基于其自由度（DoF）的分析来研究空间并行操纵器的工作空间。通过坐标变换，我们用一组参数方程式描述了几何关系，该参数方程式应广泛适用于解决具有多平移自由度的空间并行操纵器的工作空间。我们还指出，某些空间并行操纵器的工作空间对于应用程序而言可能足够大而不是很小。

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《The International Journal of Advanced Manufacturing Technology》 |2005年第2期|共7页
作者
Jing-Shan Zhao; Zhi-Jing Feng; Kai Zhou;
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正文语种 eng
中图分类计算机集成制造;
关键词
Algebra-geometry methodology; Degree of freedom; Parameter equation; Spatial parallel manipulator; Workspace;

机译：代数几何方法自由度参数方程空间并行操纵器工作空间;

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专利

1. On the workspace of spatial parallel manipulator with multi-translational degrees of freedom [J] . Jing-Shan Zhao, Zhi-Jing Feng, Kai Zhou The International Journal of Advanced Manufacturing Technology . 2005,第1a2期

机译：具有多平移自由度的空间并联机械手的工作空间
2. Workspace-constrained optimal design of three-degrees-of-freedom parallel manipulators with minimum parasitic motions by integrating interval analysis, region mapping and differential evolution [J] . Fang Hao, Xin Bin, Zhang Xing Engineering Optimization . 2015,第1a3期

机译：通过集成间隔分析，区域映射和微分演化，在工作空间受限的情况下优化了具有最小寄生运动的三自由度并联机械手的设计
3. Workspace analysis of a six-degrees of freedom, three-prismatic-prismatic-spheric-revolute parallel manipulator [J] . M. Z. A. Majid, Z. Huang, Y. L. Yao The International Journal of Advanced Manufacturing Technology . 2000,第6期

机译：六自由度，三棱柱-棱柱球旋转并联机械手的工作区分析
4. WORKSPACE OPTIMIZATION OF A SIX DEGREES OF FREEDOM PARALLEL MANIPULATOR FOR MICROMACHINING [C] . Ahmet Agaoglu, Namik Ciblak, Koray K. Safak ASME biennial conference on engineering systems design and analysis;ESDA2010 . 2011

机译：用于微加工的六种自由并联操纵器的工作空间优化
5. Dexterity and workspace characteristics of complex degree of freedom parallel manipulators. [D] . Pond, Geoffrey T. 2006

机译：复杂自由度并联机械手的敏捷性和工作空间特性。
6. Spatial Heat Maps from Fast Information Matching of Fast and Slow Degrees of Freedom: Application to Molecular Dynamics Simulations [O] . Julio A. Kovacs, Willy Wriggers -1

机译：快速和慢自由度的快速信息匹配产生的空间热图：在分子动力学模拟中的应用
7. Inverse dynamics and trajectory tracking control of a new six degrees of freedom spatial 3-RPRS parallel manipulator [O] . Mohan, Santhakumar, Corves, Burkhard 2017

机译：新型六自由度空间3-RPRS并联机械手的逆动力学和轨迹跟踪控制
8. Inverse dynamics of a 3 degree of freedom spatial flexible manipulator [R] . Bayo, Eduardo, Serna, M. 1989

机译：三自由度空间柔性机械手的逆动力学

On the workspace of spatial parallel manipulator with multi-translational degrees of freedom

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