TY - JOUR
T1 - Kinematics and workspace analysis of a six-degree-of-freedom optic fibre positioning stage using the Denavit-Hartenberg notation method
AU - Wang, Fu Shou
AU - Chen, Shang Liang
PY - 2006
Y1 - 2006
N2 - This paper analyses a hybrid optic fibre alignment positioning stage with six degrees of freedom (6-DOF) based on a 3-DOF parallel kinematic mechanism and a 3-DOF serial mechanism. The parallel kinematic mechanism uses three different types of ball joint to provide rotation and sliding movement. The advantages of the parallel kinematic mechanism include a simple structure, simplified kinematic analysis, zero accumulation of link errors, and high positioning accuracy. This study commences by introducing the parallel kinematic mechanism of the positioning stage and then proceeds to discuss its degrees of freedom. The Denavit-Hartenberg notation method is employed to analyse the kinematics of the positioning stage. Some simulation results are given to verify the correctness of this study and to show some potential for the optical fibre alignment applications. In the sequel, the effects of the dimensions of the mechanical components of the positioning stage on the workspace are also investigated and discussed.
AB - This paper analyses a hybrid optic fibre alignment positioning stage with six degrees of freedom (6-DOF) based on a 3-DOF parallel kinematic mechanism and a 3-DOF serial mechanism. The parallel kinematic mechanism uses three different types of ball joint to provide rotation and sliding movement. The advantages of the parallel kinematic mechanism include a simple structure, simplified kinematic analysis, zero accumulation of link errors, and high positioning accuracy. This study commences by introducing the parallel kinematic mechanism of the positioning stage and then proceeds to discuss its degrees of freedom. The Denavit-Hartenberg notation method is employed to analyse the kinematics of the positioning stage. Some simulation results are given to verify the correctness of this study and to show some potential for the optical fibre alignment applications. In the sequel, the effects of the dimensions of the mechanical components of the positioning stage on the workspace are also investigated and discussed.
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U2 - 10.1243/09544054JEM369
DO - 10.1243/09544054JEM369
M3 - Article
AN - SCOPUS:34247148120
SN - 0954-4054
VL - 220
SP - 767
EP - 778
JO - Proceedings of the Institution of Mechanical Engineers, Part B: Journal of Engineering Manufacture
JF - Proceedings of the Institution of Mechanical Engineers, Part B: Journal of Engineering Manufacture
IS - 5
ER -