Article ID | Journal | Published Year | Pages | File Type |
---|---|---|---|---|
799981 | Mechanism and Machine Theory | 2008 | 17 Pages |
Abstract
A unified and simple approach is proposed for solving inverse/forward velocity and acceleration of the limited-dof PKMs (parallel kinematic machines) with linear active legs. First, a general PKM with n active legs is constructed and some formulae for solving inverse displacement are derived. Second, the poses of the constrained wrench are determined and the formulae for solving auxiliary Jacobian/Hessian matrices and statics are derived. Third, some formulae are derived for solving the general velocity/acceleration, the 6 × 6 Jacobian matrix and the 6 × 6 × 6 Hessian matrix. Finally, the solving procedure is illustrated by applying it to a 3-SPR, a 4SPS + SPR and a 3-UPU PKMs.
Related Topics
Physical Sciences and Engineering
Engineering
Industrial and Manufacturing Engineering
Authors
Yi Lu, Bo Hu,