NDLI: Design and simulation of Chinese massage robot based on parallel mechanism

Content Provider	IEEE Xplore Digital Library
Author	Yin Xiaoqin Xu Yonggen
Copyright Year	2010
Description	Author affiliation: Institute of Intellectual Machinery and Robot, Jiangsu University, Zhenjiang, China (Yin Xiaoqin; Xu Yonggen)
Abstract	According to the systematic method for topological structure synthesis of parallel mechanism, one parallel mechanism of two degree of freedom (2 - DOF) realizing 1 translation-1 rotation(1T-1R) is put forward with single-opened-chain (SOC) as a unit. The paper presents the structural analysis and position analysis of the parallel mechanism composed of two platforms mutually connected by two RPR and two RP serial kinematic chains, where R and P stand for revolute and prismatic kinematics pair respectively. The mechanism is composed of two active branched-chains (R (⊥P) //R) and two assisted branched-chains (P⊥R). The virtual prototype of this mechanism is created in ADAMS software, and the simulation curve that verifies the validity of theoretical analysis is given. The advantage of this parallel mechanism is that the real-time control of the mechanism is realized conveniently based on more simple kinematic analyses and fewer DOF. Thus, the Chinese massage robot based on the mechanism should be better application prospect.
Starting Page	2512
Ending Page	2515
File Size	375911
Page Count	4
File Format	PDF
ISBN	9781424477371
e-ISBN	9781424477395
DOI	10.1109/MACE.2010.5535326
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-06-26
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Educational robots Single-opened-chain Kinematics analysis Parallel mechanism Manipulators Robotics and automation Machinery Intelligent robots Rails Parallel robots Analytical models Simulation Kinematics Pressing
Content Type	Text
Resource Type	Article

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