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Kinematics and Dynamics for a 3-DOF Parallel Manipulator with Limbs of Embedding Structures

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Intelligent Robotics and Applications (ICIRA 2013)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 8103))

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Abstract

The workspace of the parallel manipulators is relatively smaller than the serial manipulators, which results in lower translational or rotational capability and larger equipment fixing space. In order to improve this performance, a new type of parallel manipulators with special topology structures and special limbs is proposed. We name it similar-SCARA. The cylinder coordinate is used to describe the position and orientation of the mobile platform, and the kinematics equations of the similar-SCARA parallel manipulator is constructed. Then the dynamics modeling is developed with Lagrangian formulation. By aid of dynamics equations, the simulation curves denote the driving torque with time for the driving joint.

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Author information

Authors and Affiliations

  1. School of Mechanical Engineering, Hebei University of Technology, Tianjin, CO, 300130, P.R. China

    Jianjun Zhang, Xiaohui Wang, Ning Jiang & Weimin Li

Authors
  1. Jianjun Zhang
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  2. Xiaohui Wang
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  3. Ning Jiang
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  4. Weimin Li
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Editor information

Editors and Affiliations

  1. Department of Electrical Engineering, Pusan National University, South Korea

    Jangmyung Lee

  2. School of Mechanical Engineering, Pusan National University, Busan, South Korea

    Min Cheol Lee

  3. Intelligent Systems & Biomedical Robotics Group, School of Creative Technologies, University of Portsmouth, PO1 2DJ, England, UK

    Honghai Liu

  4. School of Mechanical Engineering, Biorobotics Laboratory, Korea University of Technology and Education, Gajeon-ri Byeongcheon-myeon 307, 330-708, Cheonan, Korea

    Jee-Hwan Ryu

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© 2013 Springer-Verlag Berlin Heidelberg

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Zhang, J., Wang, X., Jiang, N., Li, W. (2013). Kinematics and Dynamics for a 3-DOF Parallel Manipulator with Limbs of Embedding Structures. In: Lee, J., Lee, M.C., Liu, H., Ryu, JH. (eds) Intelligent Robotics and Applications. ICIRA 2013. Lecture Notes in Computer Science(), vol 8103. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-40849-6_6

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  • DOI: https://doi.org/10.1007/978-3-642-40849-6_6

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-40848-9

  • Online ISBN: 978-3-642-40849-6

  • eBook Packages: Computer ScienceComputer Science (R0)

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