کد مقاله | کد نشریه | سال انتشار | مقاله انگلیسی | نسخه تمام متن |
---|---|---|---|---|
7180059 | 1467760 | 2014 | 15 صفحه PDF | دانلود رایگان |
عنوان انگلیسی مقاله ISI
Comprehensive closed-form solution for the reachable workspace of 2-RPR planar parallel mechanisms
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موضوعات مرتبط
مهندسی و علوم پایه
سایر رشته های مهندسی
مهندسی صنعتی و تولید
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چکیده انگلیسی
In the design of both planar and spatial parallel mechanisms, structural parameter selection for a desired workspace generally employs the use of numerical methods. However, using a closed-form solution facilitates workspace-based design and workspace optimization. This paper presents a general and comprehensive closed-form solution for the reachable workspace of 2-RPR planar parallel mechanisms. The workspace of the mechanism is analyzed in detail and its boundary is analytically derived to provide a closed-form solution for the reachable workspace. A discussion of the methodology is provided which highlights metrics for rapid determination of desired workspace parameters based on given structural parameters. An example is provided to validate the presented closed-form solution against a numerical method solution. The example is extended to demonstrate the use of the closed-form solution for workspace-based design and workspace optimization. The presented closed-form solution can be used to derive the closed form solution to the workspace of spatial multi-legged parallel mechanisms such as axially symmetric hexapod robots.
ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Mechanism and Machine Theory - Volume 74, April 2014, Pages 102-116
Journal: Mechanism and Machine Theory - Volume 74, April 2014, Pages 102-116
نویسندگان
Mahdi Agheli, Stephen S. Nestinger,