期刊名称：International Journal of Advanced Robotic Systems
印刷版ISSN：1729-8806
电子版ISSN：1729-8814
出版年度：2020
卷号：17
期号：2
页码：1-14
DOI：10.1177/1729881420919950
出版社：SAGE Publications
摘要：A new type of parallel robot ROBO_003 is presented. Its mechanisms, kinematics, and virtual prototype technology are introduced. The research of degrees of freedom (DOF) is based on screw theory, a set of screw is separated as a branch, which named as constrain screw. The type of three DOF gained by counting constrain screw, the moving platform’s frame, and base platform’s frame is set, respectively, a complete kinematic research including closed-form solutions for direct kinematic problem. The 3-D model of ROBO_003 is established using SOLIDWORKS; position and orientation of motion platform can be gained using ADMAS, which is a type of virtual prototype technology. The resultant shows that the structure of ROBO_003 is reasonable, three DOF of motion platform can be operated in a reasonable range, the solutions to the direct kinematics are right, and robot ROBO_003 can be used in many industrial fields. The research of this article provides a basis for the practical application of parallel robotics ROBO_003..
关键词：ADAMS ; ROBO_003 ; screw theory ; virtual prototype technology
