Investigation of Kinematic Analysis and Applications for a 3-RRPS Parallel Manipulator
摘要
kinematics analysis, parasitic motion A study of the kinematic analysis and applications for a six degree-of-freedom (DOF) parallel manipulator with three legs is presented. The kinematic analysis results show that the fewer actuators can be utilized to achieve some particularly required DOF for moving platform as compared to Stewart-Gough platform. From above characteristics, the relations between the number of DOF and how many actuators are needed (RDA) for this mechanism can be established. The RDA can be a reference resource for mechanism designer to design a parallel manipulator with three legs and the minimum number of actuators for a specific design purpose of DOF. The above advantage cannot be achieved by the Stewart-Gough platform. Finally, according to the RDA, a method to overcome parasitic motion for 3-RPS mechanism by using two extra actuators, and design a 2-DOF parallel mechanism with Heave-Yaw (MWHY) using three actuators are proposed. These applications illustrate the practicality and extensive applications of the RDA.