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	A comparison study of two tricept units for reconfigurable parallel kinematic machines
	Shi Junshan ; Tang Xiaoqiang ; Lin Chunshen ; Wang Liping
	2010-05-10 ; 2010-05-10
关键词	Practical Theoretical or Mathematical/ dexterous manipulators Jacobian matrices legged locomotion machine tools manipulator kinematics path planning/ tricept unit reconfigurable parallel kinematic machine RPKM modular leg configuration planning inverse kinematics Jacobian analysis workspace dexterity/ C3390C Mobile robots C3390M Manipulators C3355C Control applications in machining processes and machine tools C1110 Algebra
中文摘要	This paper presents a comparison study of workspace and dexterity of two tricept units for reconfigurable parallel kinematic machines (RPKMs). The modular leg of RPKMs is designed and the RPKMs can be built by changing the setting of modules. A compositive kinematic model is developed accordingly. The inverse kinematics and Jacobian of these two tricept units are analyzed. Considering workspace volume and dexterity, the effects of geometric size of some modules on the two tricept units are discussed. In the end, comparison results of these two tricept units are given. The comparison of two kinds of parallel kinematic machines (PKMs) can be of help in the design and configuration planning of the RPKMs.
语种	英语 ; 英语
出版者	Editorial Dept. High Technol. Lett ; China
内容类型	期刊论文
源URL	[http://hdl.handle.net/123456789/25318]
专题	清华大学
推荐引用方式 GB/T 7714	Shi Junshan,Tang Xiaoqiang,Lin Chunshen,et al. A comparison study of two tricept units for reconfigurable parallel kinematic machines[J],2010, 2010.
APA	Shi Junshan,Tang Xiaoqiang,Lin Chunshen,&Wang Liping.(2010).A comparison study of two tricept units for reconfigurable parallel kinematic machines..
MLA	Shi Junshan,et al."A comparison study of two tricept units for reconfigurable parallel kinematic machines".(2010).

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