کد مقاله | کد نشریه | سال انتشار | مقاله انگلیسی | نسخه تمام متن |
---|---|---|---|---|
6876610 | 1442529 | 2018 | 13 صفحه PDF | دانلود رایگان |
عنوان انگلیسی مقاله ISI
Operation mode analysis of 3-RPS parallel manipulators based on their design parameters
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موضوعات مرتبط
مهندسی و علوم پایه
مهندسی کامپیوتر
گرافیک کامپیوتری و طراحی به کمک کامپیوتر
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چکیده انگلیسی
It is known that a 3-RPS parallel manipulator with an equilateral triangle base and an equilateral triangle platform has two operation modes (Schadlbauer et al., 2014) whereas a 3-RPS cube manipulator with a cube shaped base and an equilateral triangle platform has only one operation mode (Nurahmi et al., 2014). This behavior is indeed a result of the difference in the architectures of these manipulators. Therefore, this paper deals with the operation mode analysis of 3-RPS parallel manipulators based on their design parameters. Study's kinematic mapping is exploited to derive the constraint equations of the manipulators under study. A linear combination of the constraint equations independent of the joint variables is compared with a general quadric in the 7-dimensional projective space P7 to obtain some relations between the design parameters of 3-RPS manipulators with coplanar revolute joints, such that those manipulators have two operation modes. Some special cases and a numerical example are considered to emphasize the proposed approach and highlight the contributions of the paper.
ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Computer Aided Geometric Design - Volume 63, July 2018, Pages 122-134
Journal: Computer Aided Geometric Design - Volume 63, July 2018, Pages 122-134
نویسندگان
Abhilash Nayak, Thomas Stigger, Manfred L. Husty, Philippe Wenger, Stéphane Caro,