Research on the motion and force transmission of 3-PCR parallel robot

Bo Li; Anjun Chen; Quan Zhang; Yaoting Wang

doi:10.1109/MACE.2010.5535457

Research on the motion and force transmission of 3-PCR parallel robot

Bo Li^*, Anjun Chen, Quan Zhang, Yaoting Wang

^*Corresponding author for this work

Jiangnan University

Research output: Chapter in Book or Report/Conference proceeding › Conference Proceeding › peer-review

Abstract

This paper analyzes the motion and force transmissiion on the basis of a particular 3-DOF parallel mechanism-3-PCR parallel robot. First of all, the kinematic equation for 3-PCR parallel robot has been established. Besides, the manipulability of velocity and force have been defined in line with the Jacobian matrix for the robot mechanism. Moreover, the relevant evaluation indices for the velocity and force transmission of the robot mechanism have been specified. Finally, the capability of the velocity and force transmission of the mechanism, under designated postures within the workspace, have been measured by considering the velocity and force manipulability as performance indices.

Original language	English
Title of host publication	2010 International Conference on Mechanic Automation and Control Engineering, MACE2010
Pages	2305-2308
Number of pages	4
DOIs	https://doi.org/10.1109/MACE.2010.5535457
Publication status	Published - 2010
Externally published	Yes
Event	2010 International Conference on Mechanic Automation and Control Engineering, MACE2010 - Wuhan, China Duration: 26 Jun 2010 → 28 Jun 2010

Publication series

Name	2010 International Conference on Mechanic Automation and Control Engineering, MACE2010

Conference

Conference	2010 International Conference on Mechanic Automation and Control Engineering, MACE2010
Country/Territory	China
City	Wuhan
Period	26/06/10 → 28/06/10

Keywords

3-PCR
Force transmission
Motion transmission

Access to Document

10.1109/MACE.2010.5535457

Cite this

Li, B., Chen, A., Zhang, Q., & Wang, Y. (2010). Research on the motion and force transmission of 3-PCR parallel robot. In 2010 International Conference on Mechanic Automation and Control Engineering, MACE2010 (pp. 2305-2308). Article 5535457 (2010 International Conference on Mechanic Automation and Control Engineering, MACE2010). https://doi.org/10.1109/MACE.2010.5535457

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title = "Research on the motion and force transmission of 3-PCR parallel robot",

abstract = "This paper analyzes the motion and force transmissiion on the basis of a particular 3-DOF parallel mechanism-3-PCR parallel robot. First of all, the kinematic equation for 3-PCR parallel robot has been established. Besides, the manipulability of velocity and force have been defined in line with the Jacobian matrix for the robot mechanism. Moreover, the relevant evaluation indices for the velocity and force transmission of the robot mechanism have been specified. Finally, the capability of the velocity and force transmission of the mechanism, under designated postures within the workspace, have been measured by considering the velocity and force manipulability as performance indices.",

keywords = "3-PCR, Force transmission, Motion transmission",

author = "Bo Li and Anjun Chen and Quan Zhang and Yaoting Wang",

year = "2010",

doi = "10.1109/MACE.2010.5535457",

language = "English",

isbn = "9781424477388",

series = "2010 International Conference on Mechanic Automation and Control Engineering, MACE2010",

pages = "2305--2308",

booktitle = "2010 International Conference on Mechanic Automation and Control Engineering, MACE2010",

note = "2010 International Conference on Mechanic Automation and Control Engineering, MACE2010 ; Conference date: 26-06-2010 Through 28-06-2010",

}

Li, B, Chen, A, Zhang, Q & Wang, Y 2010, Research on the motion and force transmission of 3-PCR parallel robot. in 2010 International Conference on Mechanic Automation and Control Engineering, MACE2010., 5535457, 2010 International Conference on Mechanic Automation and Control Engineering, MACE2010, pp. 2305-2308, 2010 International Conference on Mechanic Automation and Control Engineering, MACE2010, Wuhan, China, 26/06/10. https://doi.org/10.1109/MACE.2010.5535457

Research on the motion and force transmission of 3-PCR parallel robot. / Li, Bo; Chen, Anjun; Zhang, Quan et al.
2010 International Conference on Mechanic Automation and Control Engineering, MACE2010. 2010. p. 2305-2308 5535457 (2010 International Conference on Mechanic Automation and Control Engineering, MACE2010).

Research output: Chapter in Book or Report/Conference proceeding › Conference Proceeding › peer-review

TY - GEN

T1 - Research on the motion and force transmission of 3-PCR parallel robot

AU - Li, Bo

AU - Chen, Anjun

AU - Zhang, Quan

AU - Wang, Yaoting

PY - 2010

Y1 - 2010

N2 - This paper analyzes the motion and force transmissiion on the basis of a particular 3-DOF parallel mechanism-3-PCR parallel robot. First of all, the kinematic equation for 3-PCR parallel robot has been established. Besides, the manipulability of velocity and force have been defined in line with the Jacobian matrix for the robot mechanism. Moreover, the relevant evaluation indices for the velocity and force transmission of the robot mechanism have been specified. Finally, the capability of the velocity and force transmission of the mechanism, under designated postures within the workspace, have been measured by considering the velocity and force manipulability as performance indices.

AB - This paper analyzes the motion and force transmissiion on the basis of a particular 3-DOF parallel mechanism-3-PCR parallel robot. First of all, the kinematic equation for 3-PCR parallel robot has been established. Besides, the manipulability of velocity and force have been defined in line with the Jacobian matrix for the robot mechanism. Moreover, the relevant evaluation indices for the velocity and force transmission of the robot mechanism have been specified. Finally, the capability of the velocity and force transmission of the mechanism, under designated postures within the workspace, have been measured by considering the velocity and force manipulability as performance indices.

KW - 3-PCR

KW - Force transmission

KW - Motion transmission

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U2 - 10.1109/MACE.2010.5535457

DO - 10.1109/MACE.2010.5535457

M3 - Conference Proceeding

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SN - 9781424477388

T3 - 2010 International Conference on Mechanic Automation and Control Engineering, MACE2010

SP - 2305

EP - 2308

BT - 2010 International Conference on Mechanic Automation and Control Engineering, MACE2010

T2 - 2010 International Conference on Mechanic Automation and Control Engineering, MACE2010

Y2 - 26 June 2010 through 28 June 2010

ER -

Research on the motion and force transmission of 3-PCR parallel robot

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