Kinematic Analysis and Simulation of an Uncoupled Translational Parallel Mechanism

DOI

10.2991/icmmcce-17.2017.111How to use a DOI?

Keywords

Translational parallel mechanism; Uncoupling; Kinematic analysis; Simulation

Abstract

A novel uncoupled translational parallel mechanism (UTPM) with three degrees of freedom (3-DOFs) is presented, which is composed of a moving platform connected to a fixed base by three identical kinematic chains. Firstly, kinematic output property of the moving platform is analyzed. Then, both the forward and the inverse analytical solutions of the kinematic problems are discussed in detail. The velocity Jacobian is a diagonal matrix, which implies that there exists a one-to-one corresponding relation between the inputs and the outputs of the parallel mechanism. Finally, the kinematic simulation is carried out by MATLAB and Pro/E software. Simulation results show that the theoretical analysis is correct and feasible.

Copyright

© 2017, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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TY  - CONF
AU  - Yanbin Zhang
AU  - Yifu Zhao
AU  - Xianling Jing
PY  - 2017/09
DA  - 2017/09
TI  - Kinematic Analysis and Simulation of an Uncoupled Translational Parallel Mechanism
BT  - Proceedings of the 2017 5th International Conference on Mechatronics, Materials, Chemistry and Computer Engineering (ICMMCCE 2017)
PB  - Atlantis Press
SP  - 601
EP  - 605
SN  - 2352-5401
UR  - https://doi.org/10.2991/icmmcce-17.2017.111
DO  - 10.2991/icmmcce-17.2017.111
ID  - Zhang2017/09
ER  -