Аннотация
Parallel robotic manipulators are complex mechanical systems that
lead to involved kinematic and dynamic equations. Hence, the design
of such systems is in general not intuitive, and advanced simulation
and design tools specialized for this type of architecture are highly
desirable. This article discusses the kinematic simulation and computer-aided
design of three- degree-of-freedom spherical parallel manipulators
with either prismatic or revolute actuators. The kinematic analysis
of spherical parallel manipulators is first reviewed. Solutions for
the direct and inverse kinematic problems are given, and the expressions
for the singularity loci are then introduced. The determination of
the workspace of this type of manipulator is also addressed. Finally,
a computer package developed specifically for the CAD of spherical
parallel manipulators is presented. This package allows the interactive
analysis of manipulators of arbitrary architecture including the
representation of the workspace, the representation of singularities,
and the graphic animation of trajectories specified either by the
direct or the inverse kinematic module. It can be used for the design
of any spherical parallel three- degree-of-freedom actuated mechanism,
which can find many applications in high-performance robotic systems.
(C) 1995 John Wiley & Sons, Inc.
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