Changchun Institute of Optics,Fine Mechanics and Physics,CAS
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
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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 |
URL | 查看原文 |
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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