Zhang Yanfei

(Institute of Robotics, Beihang University, Beijing 100083)

Gong Jinliang

(College of Mechanical Engineering, Yanshan University, Qinhuangdao 066004)

Li Weimin

(School of Mechanical Engineering, Hebei University of Technology, Tianjin 300130)

Gao Feng

(State Key Laboratory of Vibration, Shock & Noise, Shanghai Jiaotong University, Shanghai 200030)

Abstract: Using the interface module of force self-evening, a new method of constituting redundant actuation parallel robots is proposed and based on this method, a 6-DOF parallel robot with 10 actuators is presented. Kinematic of the robot is also analyzed and the only expressions are obtained in an explicit form. Then the kinematics simulation is made by the aid of 6-DOF-mouse which is developed by ourselves and the validity of its kinematics solution is verified.

Key words: Redundant actuation  Inverse kinematics  6-DOF-mouse

CLC No: TP242

国家杰出青年基金(50125516)、振动、冲击、噪声国家重点实验室(VSN-2005-07)和天津市自然科学基金重点(043801811)资助项目. Received 20041230, received in revised form 20050425