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《China Mechanical Engineering》 2009-24
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Research on Workspace of a Spherical 2-DOF Parallel Manipulator with Actuation Redundancy

Zhang Lijie1 Niu Yuewei2 Li Yongquan11.Yanshan University,Qinhuangdao,Hebei,0660042.Qinhuangdao Port Co.Ltd.,Qinhuangdao,Hebei,066000  
A kind of spherical 2-DOF parallel manipulator with actuation redundancy was investigated herein.Based on the geometric parameter design spaces and constraint conditions,the relationship between geometric design parameters and the reachable workspace was studied in detail by using geometric methodology.The shapes of reachable workspace was expressed on the plane by using conformal transformation.These results will be very useful for designers to understand and grasp the performances of this manipulator's workspace.
【Fund】: 国家自然科学基金资助项目(50875226);; 河北省自然科学基金资助项目(E2008000830)
【CateGory Index】: TP242
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Chinese Journal Full-text Database 2 Hits
2 Zhang LijieHuang ZhenYanshan University,Qinhuangdao,Hebei,066004;Fundamental Study on the Mechanism Design of a Spherical Parallel Manipulator with Redundancy[J];China Mechanical Engineering;2006-07
Chinese Journal Full-text Database 6 Hits
1 ZHU Xing-long, ZHOU Ji-ping(College of Mechanical Engineering, Yangzhou University, Yangzhou 225009, China);Research on reachable capability of robot manipulators[J];Journal of Engineering Design;2005-02
2 LUO Yufeng1,2,JIANG Dongyan1,YAN Ying3,LI Jianxiu1,SHI Zhixin1,CHEN Hongliang1(1.School of Mechanical and Electrical Engineering,Nanchang University,Nanchang Jiangxi 330031,China;2.Xinyu College,Xinyu Jiangxi 338031,China;3.Mechanical Engineering Department,Jiangxi Tourism & Commerce College,Nanchang Jiangxi 330100,China);The Research of Workspace of a New Robot Spherical Joint Module with Driving[J];Machine Tool & Hydraulics;2009-06
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6 ZHAO Jie WANG Wei-zhong CAI He-gao (Robotics Institute,Harbin Institute of Technology,Harbin 150001,China);Algorithms for Automatically Determining Workspace of Reconfigurable Robots[J];Journal of Tianjin University;2006-09
【Secondary Citations】
Chinese Journal Full-text Database 1 Hits
1 Zhang Lijie Li Yongquan Huang ZhenYanshan University,Qinhuangdao,Hebei,066004;On the Kinematics Analysis of a 2-DOF Spherical 5R Parallel Manipulator[J];China Mechanical Engineering;2006-04
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