Kinematic performance analysis of a parallel mechanism for loading test of hydraulic support

2022 ◽  
Vol 168 ◽  
pp. 104592
Author(s):  
Siyang Peng ◽  
Zhihong Cheng ◽  
Linxian Che ◽  
Yuwei Zheng ◽  
Shuang Cao
Keyword(s):  
Performance Analysis ◽  
Parallel Mechanism ◽  
Loading Test ◽  
Hydraulic Support ◽  
Kinematic Performance

Kinematic Performance Analysis for Hexapod Mobile Robot Using Parallel Mechanism

2014 ◽  
Author(s):  
Yang Pan ◽  
Feng Gao
Keyword(s):  
Performance Analysis ◽  
Parallel Mechanism ◽  
Kinematic Model ◽  
Walking Robots ◽  
Walking Robot ◽  
Complex Environments ◽  
Emergency Rescue ◽  
Nuclear Plants ◽  
Parallel Leg Mechanism ◽  
Kinematic Performance

Walking robots have been studied a lot over last several decades due to their good adaptability in different complex environments. The walking robot in this paper is designed for the research on emergency rescue missions in nuclear plants. Unlike other mobile robots, it apply parallel mechanism for its legs. This paper mainly focus on the kinematic performance of the parallel leg mechanism. Section 2 gives a brief introduction of our robot and the kinematic model. Then section 3 analyze the workspace of the leg tip. After that the payload and velocity capability are discussed respectively and it turns out that the mechanism has very good payload performance but the velocity is relatively low. Next the isotropic characteristic is studied in the whole workspace. Then the experiments indicate that the robot can successfully finish walking and manipulating tasks.

Evaluation of the Kinematic Performance of a 3-RRS Parallel Mechanism

Robotica ◽  
2020 ◽  
pp. 1-12
Author(s):  
Manxin Wang ◽  
Qiusheng Chen ◽  
Haitao Liu ◽  
Tian Huang ◽  
Hutian Feng ◽  
...  
Keyword(s):  
Standard Deviation ◽  
Parallel Mechanism ◽  
Jacobian Matrix ◽  
Mean Value ◽  
Spherical Joint ◽  
Performance Indices ◽  
Active Joint ◽  
Strongly Coupled ◽  
The Mean ◽  
Kinematic Performance

SUMMARY This paper proposes a set of novel indices for evaluating the kinematic performance of a 3-RRS (R and S denote revolute and spherical joint respectively, R denotes active joint.), parallel mechanism whose translational and rotational movements are strongly coupled. First, the indices are formulated using the decoupled overall Jacobian matrix, which is developed using coordinate transformation. Then, the influences of the homogeneous dimensionless parameters on these indices are investigated. In addition, the dimension synthesis of the 3-RRS parallel mechanism is carried out by minimizing the mean value of the kinematic performance indices and their standard deviation. The results demonstrate that the established approach facilitates good global kinematic performance of the parallel mechanism.

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