Proceedings Article10.1109/ICMA.2014.6885845
A study on less DOF parallel mechanism based on 3-RRRT parallel manipulator
Huang Wei-Ming,Zhao Xin-hua,Yang Yu-wei,Li Peng +3 more
- 28 Aug 2014
- pp 1063-1067
TL;DR: The authors choose the 3-RRRT parallel manipulator as researching object, build a D-H coordinate system after reasonable analysis with the thought of virtual link, and establish a mathematical model of kinematic by using the method of Homogeneous Coordinate Transformation.
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Abstract: In this paper, to exploring the less d.o.f parallel manipulator, the authors choose the 3-RRRT parallel manipulator as researching object, build a D-H coordinate system after reasonable analysis with the thought of virtual link, and then establish a mathematical model of kinematic by using the method of Homogeneous Coordinate Transformation. The direct and inverse solutions will be obtained by using the MATLAB software. At last, the solutions and the mathematical model will be proved right with PRO / E software.
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Citations
•Journal Article
Position analysis of the 3-RRRT parallel manipulator
TL;DR: This paper tries to solve the direct and inverse displacement problems of the 3-RRRT parallel mechanism by using 4-dimension matrics and 3-dimension vector methods to study the structure of this mechanism.
1
References
•Journal Article
Position analysis of the 3-RRRT parallel manipulator
TL;DR: This paper tries to solve the direct and inverse displacement problems of the 3-RRRT parallel mechanism by using 4-dimension matrics and 3-dimension vector methods to study the structure of this mechanism.
1