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《Journal of Mechanical Transmission》 2008-01
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Structure Analysis of a Class 3-DOF Parallel Robots based on Wrench Foree

Cheng Gang,Ge Shirong  
A new method to analyze the structure of parallel robot is presented with reciprocal screw theory.Several limb types are analyzed for the 3-DOF(2R1T)parallel robot.When there is only one pure wrench force in one limb,the design rules and the combinations of revolute and prismatic joints are obtained.Through the discussion of relations between spatial wrench force and DOF of parallel robot,the necessary spatial contribution of wrench forces is investigated.Then the parallel structures with 2R1T DOFs that can be realized in potential industrial applications can be get.By the analysis of 3-RPS parallel manipulator,the mutual effect between wrench forces and DOF is explained.Meanwhile,the method can be used for structure synthesis and optimization design of other kinds of low-DOF parallel robots.
【Fund】: 国家863高技术基金资助项目(批准号:2006AA04Z208)
【CateGory Index】: TP242
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