Configuration Analysis and Design of a Multidimensional Tele-operator Based on a 3-P(4S) Parallel Mechanism
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Based on configuration analysis, different types of 3-P(4S) parallel mechanisms are designed and introduced in this paper. Application issues of parallel mechanisms are discussed and a double 3-P(4S) mechanism-based tele-operator is illustrated. Inverse and forward kinematics of the single 3-P(4S) parallel mechanism are derived and solved via MATLAB software; based on it, the workspace of the 3-P(4S) parallel mechanism is investigated. The relationship between the distribution angle of kinematic chain and volume of the workspace is derived, and the shapes of the workspace of single and double 3-P(4S) parallel mechanisms are plotted. A prototype is developed and an interactive simulation system is established based on SolidWorks and LabVIEW software. Testing results indicate that the proposed tele-operator can well perform tele-operation tasks. This research work lays a good basis for performances evaluation and parameter optimization of 3-P(4S) mechanisms. Besides, it provides new ideas for the applications of parallel mechanisms.
KeywordsParallel mechanism Configuration analysis Tele-operator Interactive control
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This work was supported in part by the National Natural Science Foundation of China (51575544, 51275353), Macao Science and Technology Development Fund (108/2012/A3, 110/2013/A3), and Research Committee of University of Macau (MYRG2015-00194-FST), Research Committee of The Hong Kong Polytechnic University (1-ZE97).
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