کد مقاله کد نشریه سال انتشار مقاله انگلیسی نسخه تمام متن
800255 903755 2006 10 صفحه PDF دانلود رایگان
عنوان انگلیسی مقاله ISI
Analytic form solution of the forward position analysis of three-legged parallel mechanisms generating SR–PS–RS structures
موضوعات مرتبط
مهندسی و علوم پایه سایر رشته های مهندسی مهندسی صنعتی و تولید
پیش نمایش صفحه اول مقاله
Analytic form solution of the forward position analysis of three-legged parallel mechanisms generating SR–PS–RS structures
چکیده انگلیسی

Spatial parallel mechanisms (SPMs) become parallel structures when the actuators are locked. Parallel structures are constituted by two rigid bodies (platform and base) connected by a number of kinematic chains (legs) with only passive kinematic pairs. A set of SPMs is the one collecting the mechanisms which become SR–PS–RS structures. Such structures have three legs: one leg of type SR, another leg of type PS and the remaining one of type RS (P, R and S stand for prismatic pair, revolute pair and spherical pair, respectively). The analytic determination of the assembly modes of the SR–PS–RS structures has not been presented in the literature, yet. This paper presents an algorithm that analytically determines the assembly modes of the SR–PS–RS structures (i.e. that analytically solves the forward position analysis (FPA) of the SPMs that become SR–PS–RS structures when the actuators are locked). In particular, the closure equation system of a generic SR–PS–RS structure is written in the form of three non-linear equations in three unknowns. The solution of the non-linear system is reduced to the determination of the roots of a twelfth-degree univariate polynomial equation plus a simple back substitution procedure. The proposed solution algorithm is applied to a real case. The result of this study is that the solutions of the FPA of all these SPMs are at most twelve and can be analytically determined through the proposed algorithm.

ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Mechanism and Machine Theory - Volume 41, Issue 9, September 2006, Pages 1062–1071
نویسندگان
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