2017•2017 IEEE 3rd Information Technology and Mechatronics Engineering Conference (ITOEC)Requires access

Design and analysis of a single-input three-DOF parallel manipulator

Xiaoyu Han, Zhenghao Ge, Kai Zhang, Zhilong Wang

Abstract

In order to solve the problem that the existing parallel manipulator is expensive, complicated design and complicated control, this paper designs a three-degree-of-freedom parallel manipulator with cam-driven single power input. The manipulator is cheap and widely used. And then its kinematics research. The freedom degree analysis of the manipulator is completed, and the kinematics is obtained. And then use the positive and negative solution to complete the cam parameter design. Finally, the kinematics simulation with Pro/E verifies the correctness of the design. Which provides the theoretical basis for the speed of the manipulator, the establishment of the acceleration model, the workspace and the singularity analysis.

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Key concepts: Parallel manipulator, Workspace, Kinematics, Correctness, Singularity, Computer science, Control theory (sociology), Manipulator (device)