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《机械工程前沿(英文)》 2022年 第17卷 第3期 doi: 10.1007/s11465-022-0695-1
关键词: translational parallel mechanism single loop multiple driving system workspace analysis singularity
Error analysis and optimization of a 3-degree of freedom translational Parallel Kinematic Machine
null
《机械工程前沿(英文)》 2014年 第9卷 第2期 页码 120-129 doi: 10.1007/s11465-014-0300-3
In this paper, error modeling and analysis of a typical 3-degree of freedom translational Parallel Kinematic Machine is presented. This mechanism provides translational motion along the Cartesian X-, Y- and Z- axes. It consists of three limbs each having an arm and forearm with prismatic-revolute-revolute-revolute joints. The moving or tool platform maintains same orientation in the entire workspace due to its joint arrangement. From inverse kinematics, the joint angles for a given position of tool platform necessary for the error modeling and analysis are obtained. Error modeling is done based on the differentiation of the inverse kinematic equations. Variation of pose errors along X, Y and Z directions for a set of dimensions of the parallel kinematic machine is presented. A non-dimensional performance index, namely, global error transformation index is used to study the influence of dimensions and its corresponding global maximum pose error is reported. An attempt is made to find the optimal dimensions of the Parallel Kinematic Machine using Genetic Algorithms in MATLAB. The methodology presented and the results obtained are useful for predicting the performance capability of the Parallel Kinematic Machine under study.
关键词: translational Parallel Kinematic Machine error modeling global error transformation index
MA Lv-zhong, GUO Zong-he, YANG Qi-zhi, YIN Xiao-qin, HAN Ya-li, SHEN Hui-ping
《机械工程前沿(英文)》 2006年 第1卷 第2期 页码 227-232 doi: 10.1007/s11465-006-0005-3
Stiffness of a 3-degree of freedom translational parallel kinematic machine
null
《机械工程前沿(英文)》 2014年 第9卷 第3期 页码 233-241 doi: 10.1007/s11465-014-0312-z
In this paper, a typical 3-degree of freedom (3-DOF) translational parallel kinematic machine (PKM) is studied and analyzed whose tool platform has only translations along X-, Y- and Z-axes. It consists of three limbs, each of which have arm and forearm with prismatic-revolute-revolute-revolute (PRRR) joints. Inverse kinematics analysis is carried out to find the slider coordinates and joint angles for a given position of tool platform. Stiffness modeling is done based on the compliance matrices of arm and forearm of each limb. Using the stiffness modeling the variations of minimum and maximum translational stiffness in the workspace are analyzed. For various architectural parameters of the 3-DOF PKM the tendency of variations on the minimum and maximum stiffness over the entire workspace is studied; and also the deflections of the tool platform along X, Y, and Z directions with respect to various forces are presented.
关键词: 3-DOF translational PKM inverse kinematics stiffness modeling translational stiffness
Optimal design of a linkage–cam mechanism-based redundantly actuated parallel manipulator
《机械工程前沿(英文)》 2021年 第16卷 第3期 页码 451-467 doi: 10.1007/s11465-021-0634-6
关键词: redundant actuation parallel manipulator linkage–cam mechanism Jacobian optimal design
《机械工程前沿(英文)》 2021年 第16卷 第4期 页码 765-781 doi: 10.1007/s11465-021-0655-1
关键词: generalized parallel mechanism configurable moving platform gripper mechanism type synthesis kinematic analysis
A rolling 3-UPU parallel mechanism
Zhihuai MIAO, Yan’an YAO, Xianwen KONG
《机械工程前沿(英文)》 2013年 第8卷 第4期 页码 340-349 doi: 10.1007/s11465-013-0282-6
A novel rolling mechanism is proposed based on a 3-UPU parallel mechanism in this paper. The rolling mechanism is composed of two platforms connected by three UPU (universal-prismatic-universal) serial-chain type limbs. The degree-of-freedom of the mechanism is analyzed using screw theory. Gait analysis and stability analysis are presented in detail. Four rolling modes of the mechanism are discussed and simulated. The feasibility of the rolling mechanism is verified by means of a physical prototype. Finally, its terrain adaptability is enhanced through planning the rolling gaits.
YANG Zhiyong, XU Meng, HUANG Tian, NI Yanbing
《机械工程前沿(英文)》 2007年 第2卷 第1期 页码 82-88 doi: 10.1007/s11465-007-0014-x
关键词: acceleration reconfigurable parallel additive sequence parallel mechanism
Design, analysis, and neural control of a bionic parallel mechanism
《机械工程前沿(英文)》 2021年 第16卷 第3期 页码 468-486 doi: 10.1007/s11465-021-0640-8
A comprehensive analysis of a 3-P (Pa) S spatial parallel manipulator
Yuzhe LIU,Liping WANG,Jun WU,Jinsong WANG
《机械工程前沿(英文)》 2015年 第10卷 第1期 页码 7-19 doi: 10.1007/s11465-015-0324-3
In this paper, a novel 3-degree of freedom (3-DOF) spatial parallel kinematic machine (PKM) is analyzed. The manipulator owns three main motions (two rotations and one translation) and three concomitant motions (one rotation and two translations). At first, the structure of this spatial PKM is simplified according to the characteristic of each limb. Secondly, the kinematics model of this spatial PKM is set up. In addition, the relationship between the main motions and concomitant motions is studied. The workspaces respectively based on the outputs and inputs are derived and analyzed. Furthermore, the velocity model is put forward. Two indexes based on the velocity model are employed to investigate the performance of this spatial PKM. At last, the output error model can be obtained and simulated. The comprehensive kinematics analysis in this paper is greatly useful for the future applications of this spatial PKM.
关键词: parallel mechanism concomitant motions kinematics workspaces error model
Singularity loci of an orthogonal spherical two-degree-of-freedom parallel mechanism
Jialun YANG, Feng GAO,
《机械工程前沿(英文)》 2009年 第4卷 第4期 页码 379-385 doi: 10.1007/s11465-009-0075-0
关键词: 2-DOF orthogonal spherical parallel mechanism singularity loci self-motions
Yue WANG, Jingjun YU, Xu PEI
《机械工程前沿(英文)》 2018年 第13卷 第3期 页码 368-375 doi: 10.1007/s11465-018-0519-5
A new forward kinematics algorithm for the mechanism of 3-RPS (R: Revolute; P: Prismatic; S: Spherical) parallel manipulators is proposed in this study. This algorithm is primarily based on the special geometric conditions of the 3-RPS parallel mechanism, and it eliminates the errors produced by parasitic motions to improve and ensure accuracy. Specifically, the errors can be less than 10-6 . In this method, only the group of solutions that is consistent with the actual situation of the platform is obtained rapidly. This algorithm substantially improves calculation efficiency because the selected initial values are reasonable, and all the formulas in the calculation are analytical. This novel forward kinematics algorithm is well suited for real-time and high-precision control of the 3-RPS parallel mechanism.
关键词: 3-RPS parallel mechanism forward kinematics numerical algorithm parasitic motion
Parasitic rotation evaluation and avoidance of 3-UPU parallel mechanism
Haibo QU, Yuefa FANG, Sheng GUO
《机械工程前沿(英文)》 2012年 第7卷 第2期 页码 210-218 doi: 10.1007/s11465-012-0317-4
Based on the prototype of 3-UPU (universal-prismatic-universal joint) parallel mechanism proposed by Tsai [ ], the parasitic rotation evaluation is performed and calculated the bound of instability of SNU Seoul National University 3-UPU parallel mechanism. Through analysis of the terminal constraint system of the 3-UPU parallel mechanism, the equation about the parasitic rotation and limited clearance is presented. Then the norm of possible parasitic rotation is employed to evaluate the mechanism stability with limited clearance. The higher this number the worst is the pose, the lower it is the best it is. And the contour atlas of parasitic rotation is obtained, which can be used for further analysis and design. With the practice experiment result of SUN 3-UPU parallel mechanism, we find it’s bound of instability, which indicates there will appear the parasitic rotation when the number exceeds the bound. Finally, the method for avoidance of possible parasitic motions is presented by adding redundantly actuated limbs.
关键词: parallel mechanism 3-UPU (universal-prismatic-universal joint) parasitic motions limited clearance redundantly actuated limbs
Optimum design and preliminary experiments of a novel parallel end traction apparatus for upper-limb
《机械工程前沿(英文)》 2021年 第16卷 第4期 页码 726-746 doi: 10.1007/s11465-021-0651-5
关键词: parallel mechanism upper-limb rehabilitation singularity and workspace analyses performance evaluation optimum design
《机械工程前沿(英文)》 2023年 第18卷 第2期 doi: 10.1007/s11465-022-0740-0
关键词: design synthesis parallel mechanism hybrid leg mechanism screw theory quadruped robot
标题 作者 时间 类型 操作
Design and analysis of partially decoupled translational parallel mechanisms with single-loop structures
期刊论文
Error analysis and optimization of a 3-degree of freedom translational Parallel Kinematic Machine
null
期刊论文
Precision analysis of a weakly-coupled parallel mechanism with three translational degrees of freedom
MA Lv-zhong, GUO Zong-he, YANG Qi-zhi, YIN Xiao-qin, HAN Ya-li, SHEN Hui-ping
期刊论文
Design and analysis of the gripper mechanism based on generalized parallel mechanisms with configurable
期刊论文
Variable identification and automatic tuning of the main module of a servo system of parallel mechanism
YANG Zhiyong, XU Meng, HUANG Tian, NI Yanbing
期刊论文
A comprehensive analysis of a 3-P (Pa) S spatial parallel manipulator
Yuzhe LIU,Liping WANG,Jun WU,Jinsong WANG
期刊论文
Singularity loci of an orthogonal spherical two-degree-of-freedom parallel mechanism
Jialun YANG, Feng GAO,
期刊论文
Fast forward kinematics algorithm for real-time and high-precision control of the 3-RPS parallel mechanism
Yue WANG, Jingjun YU, Xu PEI
期刊论文
Parasitic rotation evaluation and avoidance of 3-UPU parallel mechanism
Haibo QU, Yuefa FANG, Sheng GUO
期刊论文
Optimum design and preliminary experiments of a novel parallel end traction apparatus for upper-limb
期刊论文