A novel 6-SPS spherical platform parallel robotic mechanism and analysis of its local properties of force and motion transmission

JIN Zhen-lin; GAO Feng

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A novel 6-SPS spherical platform parallel robotic mechanism and analysis of its local properties of force and motion transmission

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- A novel 6-SPS spherical platform parallel robotic mechanism and analysis of its local properties of force and motion transmission
- Optics and Precision Engineering Vol. 9, Issue 1, Pages: 63-66(2001)
- 作者机构：
  
  1. 燕山大学机械工程学院, 河北秦皇岛, 066004
  2. 河北工业大学, 天津, 300130
- 作者简介：
- 基金信息：
- DOI：
  CLC： TP242
- Received：01 August 2000，
  
  Revised：23 August 2000，
  
  Published Online：15 February 2001，
  
  Published：15 February 2001
- 稿件说明：
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金振林, 高峰. 6-SPS球平台并联机器人及其局部力和运动传递性能分析[J]. 光学精密工程, 2001,(1): 63-66

JIN Zhen-lin, GAO Feng. A novel 6-SPS spherical platform parallel robotic mechanism and analysis of its local properties of force and motion transmission[J]. Editorial Office of Optics and Precision Engineering, 2001,(1): 63-66
金振林, 高峰. 6-SPS球平台并联机器人及其局部力和运动传递性能分析[J]. 光学精密工程, 2001,(1): 63-66 DOI：

JIN Zhen-lin, GAO Feng. A novel 6-SPS spherical platform parallel robotic mechanism and analysis of its local properties of force and motion transmission[J]. Editorial Office of Optics and Precision Engineering, 2001,(1): 63-66 DOI：

摘要

提出一种6-SPS球平台6自由度正交并联机器人新机型

介绍其结构布局特点

对其局部力与运动传递性能及它们与机构几何参数关系进行分析

为其设计和实用化提供理论依据。分析结果表明

该球平台机构在正交位姿力和运动传递性能各向同性

特别适合于作为6自由度微动操作机器人和6维力传感器结构。

Abstract

The design of a novel 6-SPS spherical platform 6-DOF orthogonal parallel robotic mechanism is presented. The layout feature of the mechanism is described. Its local properties of the force and motion transmission and the relationships between the properties and the link lengths are studied

which provides theoretical base for the optimal design and application of the mechanism. From the analysis of the results obtained by us

it is shown that its properties of the force and motion transmission are characterized by isotropy at the orthogonal configuration. The mechanism is particularly suitable for certain applications in 6-DOF micromanipulators and 6-axis force/torque transducers.

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references

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