Forward and Inverse Position Solution Analysis of 2UPR/1SPR 3-DOF Parallel Mechanism

摘要:

文章预览

In this paper, forward and inverse position solution are analyzed for a novel 2UPR/1SPR special 3-DOF parallel mechanism. The moving platform of this mechanism have 1 translational DOF and 2 rotational DOFs. The inverse position solution of this mechanism was deduced by analytical method. The decoupling equation of position and posture parameters are formulated on the basis of structural constraint of the concerned mechanism. The forward position solution of this mechanism is achieved by numerical method.

信息:

期刊:

编辑:

Pengcheng Wang, Xiangdong Liu and Yongquan Han

页数:

1573-1576

引用:

H. J. San et al., "Forward and Inverse Position Solution Analysis of 2UPR/1SPR 3-DOF Parallel Mechanism", Advanced Materials Research, Vols. 605-607, pp. 1573-1576, 2013

上线时间:

December 2012

输出:

价格:

$38.00

[1] S. Stefan: Mater. Robotics and Autonomous Systems, Vol. 57 (5) (2009), p.556.

[2] P.L. Yen, C.C. Lai: Mechatronics, Vol. 19 (3) (2009), p.390.

[3] Y.R. Wang, D.W. Zhan, T. Huang: Journal of Tianjin University, Vol. 35(3) (2002), p.376. (in Chinese).

[4] Y. Zhang, F. Gao: Chinese Journal of Mechanical Engineering, Vol. 41(8) (2005), p.84. (in Chinese).

[5] H.J. San, S.S. Zhong and Z.X. Wang: Chinese Journal of Mechanical Engineering Vol. 44(11) (2008), p.298. (in Chinese).

[6] X.W. Kong, C.M. Gosselin: Mechanism and Machine Theory Vol. 41(11) (2006), p.1306.

[7] T. Huang, M. Li and M.L. Wu: Chinese Journal of Mechanical Engineering Vol. 41(8) (2005), p.36. (in Chinese).

[8] M. Karouia, J. M. Hervé: The 14th CISM-IFToMM Symposium, (2002), p.359.

[9] K. Daniel, W. Philippe, C. Damien: Mechanism and Machine Theory, Vol. 44 (2) (2009), p.487.

[10] Z. Huang, L.F. Kong, Y.F. Fang: Mechanism theory and control of parallel robot(Beijing, 1997) (in Chinese).