کد مقاله کد نشریه سال انتشار مقاله انگلیسی نسخه تمام متن
801956 1467731 2016 12 صفحه PDF دانلود رایگان
عنوان انگلیسی مقاله ISI
Kinematics analysis of a novel over-constrained three degree-of-freedom spatial parallel manipulator
موضوعات مرتبط
مهندسی و علوم پایه سایر رشته های مهندسی مهندسی صنعتی و تولید
پیش نمایش صفحه اول مقاله
Kinematics analysis of a novel over-constrained three degree-of-freedom spatial parallel manipulator
چکیده انگلیسی


• A novel over-constrained 3-DOF SPM 2-RPU&SPR is proposed.
• Both inverse and forward displacements can be derived by analytic formulae due to the unique mechanism.
• The workspace of the 3-DOF SPM 2-RPU&SPR is obtained based on the forward position analysis.
• The performance of the mechanism is analyzed by using definition of pressure angles between limbs.

In this paper, a novel over-constrained three degree-of-freedom (DOF) spatial parallel manipulator (SPM) is proposed. The architecture of the SPM is comprised of a moving platform attached to a base through two revolute-prismatic-universal jointed serial linkages and one spherical-prismatic-revolute jointed serial linkage. The prismatic joints are considered to be actively actuated. Kinematics and performance of the SPM are studied systematically. Firstly, the structure characteristics and DOF of this SPM are analyzed based on screw theory. Secondly, both of the inverse and forward displacements are derived by analytic formulae. Then, the Jacobian matrix of the mechanism is derived. Thirdly, the workspace of the mechanism is obtained based on the forward position analysis. Finally, the performance analysis of the mechanism is analyzed by pressure angles between limbs and some conclusions are given.

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ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Mechanism and Machine Theory - Volume 104, October 2016, Pages 222–233
نویسندگان
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