Workspace analysis of axial offset joint based on parameterization

doi:10.1017/S0263574723000784

CIOMP OpenIR

	Workspace analysis of axial offset joint based on parameterization
	P. Li; H. Han; C. Liu; B. Ren; Q. Wu and Z. Xu
	2023
发表期刊	Robotica
ISSN	02635747
卷号	41 期号:9 页码:2882-2906
摘要	The axial offset joint has two rotating axes that do not intersect but have a specific offset in space. It is used widely in parallel manipulators (PMs). The offset-joint workspace can directly affect the PM workspace. This study performed a theoretical derivation and workspace analysis of a class of axial offset joints. First, a theoretical parametric model describing the rotation range of the offset joint is established that considers the interference of the offset joint because of the contact between the upper- and lower-joint brackets during movement. Second, the analytical expressions of the offset-joint workspace are formulated based on the coordinate system transformation. The offset-joint workspace is theoretically calculated in this study using formulations. Then, through a comparative analysis, the superiority of the offset joint compared with the universal joint is verified. The theoretical formulations in this paper can be used to calculate the workspace of a class of axial offset joints. Finally, based on a workspace analysis of three types of PMs using offset, universal, and spherical joints, the offset-joint PM workspace is much larger than those of the other two types. © The Author(s), 2023. Published by Cambridge University Press.
DOI	10.1017/S0263574723000784
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收录类别	sci ; ei
引用统计
文献类型	期刊论文
条目标识符	http://ir.ciomp.ac.cn/handle/181722/67630
专题	中国科学院长春光学精密机械与物理研究所
推荐引用方式 GB/T 7714	P. Li,H. Han,C. Liu,et al. Workspace analysis of axial offset joint based on parameterization[J]. Robotica,2023,41(9):2882-2906.
APA	P. Li,H. Han,C. Liu,B. Ren,&Q. Wu and Z. Xu.(2023).Workspace analysis of axial offset joint based on parameterization.Robotica,41(9),2882-2906.
MLA	P. Li,et al."Workspace analysis of axial offset joint based on parameterization".Robotica 41.9(2023):2882-2906.

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