Kinematics Analysis of a New Spatial 3-DOF Parallel Mechanism

2020 ◽  
pp. 341-350
Author(s):  
Yang Chao ◽  
Li Duanling ◽  
Jia Pu
Keyword(s):  
Parallel Mechanism ◽  
Kinematics Analysis

DOF and kinematics analysis of a 3-UPU parallel mechanism for telescope secondary mirror support

2021 ◽  
Author(s):  
Shuai Wang ◽  
Kunyao Zheng ◽  
Yi Chen ◽  
Mingming Xu ◽  
Dazhi Wang
Keyword(s):  
Parallel Mechanism ◽  
Kinematics Analysis ◽  
Secondary Mirror

Reconfiguration and Unified Kinematics Analysis of a Metamorphic Parallel Mechanism With Bifurcated Motion

2012 ◽  
Author(s):  
Dongming Gan ◽  
Jian S. Dai ◽  
Lakmal D. Seneviratne
Keyword(s):  
Parallel Mechanism ◽  
Geometric Condition ◽  
Translation Vector ◽  
Kinematics Analysis ◽  
Constraint Equations ◽  
Mechanism Modeling ◽  
The Difference ◽  
Two Phases ◽  
Set Up ◽  
Joint Center

This paper introduced a new metamorphic parallel mechanism consisting of four reconfigurable rTPS limbs. Based on the reconfigurability of the reconfigurable Hooke (rT) joint, the rTPS limb has two phases while in one phase the limb has no constraint to the platform, in the other it constrains the spherical joint center to lie on a plane. This results in the mechanism to have ability of reconfiguration between different topologies with variable mobility. Geometric constraint equations of the platform rotation matrix and translation vector are set up based on the point-plane constraint, which reveals the bifurcated motion property in the topology with mobility 2 and the geometric condition with mobility change in altering to other mechanism topologies. Following this, a unified kinematics limb modeling is proposed considering the difference between the two phases of the reconfigurable rTPS limb. This is further applied for the mechanism modeling and both the inverse and forward kinematics is analytically solved by combining phases of the four limbs covering all the mechanism topologies.

scholarly journals Design and Kinematics Analysis of a Parallel Mechanism to be Utilized as a Luggage Door by an Analogy to a Four – Bar Mechanism

Engineering ◽  
2011 ◽  
Vol 03 (04) ◽  
pp. 411-421 ◽  
Author(s):  
Burak Baykus ◽  
Elmas Anli ◽  
Ibrahim Ozkol
Keyword(s):  
Parallel Mechanism ◽  
Kinematics Analysis

scholarly journals Kinematics Analysis of the Parallel Mechanism Having Vertically Fixed Linear Actuators.

1999 ◽  
Vol 65 (638) ◽  
pp. 4076-4083 ◽  
Author(s):  
Takanori MASUDA ◽  
Motoyoshi FUJIWARA ◽  
Tatsuo ARAI
Keyword(s):  
Parallel Mechanism ◽  
Kinematics Analysis ◽  
Linear Actuators

scholarly journals Instantaneous Kinematics Analysis via Screw-Theory of a Novel 3-CRC Parallel Mechanism

10.5772/63748 ◽  
2016 ◽  
Vol 13 (3) ◽  
pp. 128 ◽  
Author(s):  
Hussein de la Torre ◽  
Ernesto Rodriguez-Leal
Keyword(s):  
Parallel Mechanism ◽  
Screw Theory ◽  
Kinematics Analysis

Kinematics Analysis of Walking Robot Based on Double Stewart Parallel Mechanism

2019 ◽  
Author(s):  
Shuo Jia ◽  
Wei Chen ◽  
Wenchang Zhang ◽  
Hang Wu ◽  
Weixiao Li
Keyword(s):  
Parallel Mechanism ◽  
Kinematics Analysis ◽  
Walking Robot

Kinematics Analysis of a New 5 DOF Parallel-Serial Machine Tool Based on the Vector Method

2010 ◽  
Vol 450 ◽  
pp. 283-287 ◽  
Author(s):  
Rui Wang ◽  
Gang Ding ◽  
Shi Sheng Zhong
Keyword(s):  
Machine Tool ◽  
Parallel Mechanism ◽  
Kinematics Analysis ◽  
Vector Method ◽  
Velocity Transformation ◽  
Axis Parallel ◽  
Movable Platform ◽  
Parameter Coupling ◽  
The Relationship ◽  
Kinematics Parameters

A 5-axis parallel-serial machine tool is proposed, which consists of a 3-DOF parallel mechanism and a 2-DOF serial mechanism, and the kinematics analysis is discussed in detail based on the vector method. The size of the velocity transformation matrix is decreased. The problem of parameter coupling is resolved by adopting identity matrix and four-element vector. The relationship between the velocity and acceleration of the movable platform and the input parameters of the parallel mechanism is established. These algorithms are verified correct through ADAMS (Automatic Dynamic Analysis of Mechanical System) and can be referenced by kinematics analysis, dynamics analysis of parallel or parallel-serial machine tools, which have coupling kinematics parameters.

Dexterity Analysis of 6-dof 3-urps Parallel Mechanism

2012 ◽  
Vol 591-593 ◽  
pp. 754-757
Author(s):  
Hong Li Yun ◽  
Xiao Na Song
Keyword(s):  
Condition Number ◽  
Parallel Mechanism ◽  
Three Dimensional ◽  
Inverse Solution ◽  
Kinematics Analysis ◽  
Characteristic Analysis ◽  
Kinematic Design ◽  
Ps I

The kinematics analysis is carried out on a kind of 3-urps parallel mechanism (pm) with 6-dof. The positional inverse solution and Jacobean matrixes which is used to analyze the dexterity of mechanism are derived. Condition number is used as evaluating indicator of dexterity in this article, and its’ three-dimensional graphs are drawn when this mechanism in different attitudes. It is indicated that dexterity of moving is excelled than the rotary movement’s for this pm. The optimum dexterity can be obtained in the center of mechanism’s workroom, which can be applied to further characteristic analysis and kinematic design of mechanisms.

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