RESEARCH ON THE BRANCHES' INTERFERENCE OF 6-DOF PARALLEL MANIPULATOR

作     者：Yuan Lipeng Zhao Keding Dong Yanliang Yang Haoquan School of Mechatronic Engineering Harbin Institute of Technology, Post Code: 150001 Harbin, China 

会议名称：《第四届流体传动国际会议》

会议日期：2003年

学科分类：08[工学] 080203[工学-机械设计及理论] 0802[工学-机械工程] 

关 键 词：the 6-DOF parallel manipulator workspace spiral vector interference 

摘      要：In this paper, the branches’ interference problem of 6-DOF parallel manipulator that is concerned with in workspace is discussed in detail. To analysis branched chain interference problem with spiral vector is presented at the first time here. This method is not only visual and vivid, but also makes physical meaning clear. At the same time, this method makes the calculation simple and real-time performance superior. So this method has surmounted the defect of traditional methods and it is a kind of more practical method in actual application. Additionally this paper has also elaborated the branches’ interference condition of the 6-DOF parallel manipulator during the platform doing tanslation or turn, and has put forward the method of judging and detecting the condition of interference. In the end this paper reach some meaningful conclusions.