Kinematics of a 5-DoF 5-RRR(RR) Prototype

2007 ◽  
Author(s):  
Si-Jun Zhu ◽  
Zhen Huang ◽  
Ming-Yang Zhao
Keyword(s):  
Parallel Manipulator ◽  
Spinal Column ◽  
Motion Simulation ◽  
Short History ◽  
Position Solution ◽  
Reverse Position

A fully-symmetrical 5-DoF 3R2T parallel manipulator has three rotational and two translational freedoms. It may be adopted in motion simulation for a spinal column. However, kinematics of these manipulators has not been studied very well because of their short history. To study the characteristics of these manipulators, a 5-RRR(RR) prototype is manufactured. Both forward/reverse position solution and singularity are analyzed in this paper. The work presented in this paper will be helpful for understanding the property of other fully-symmetrical 5-DoF 3R2T parallel manipulator because of their similar constraint relationship.

Kinematics of a partially decoupled 3R2T symmetrical parallel manipulator 3-RCRR

2008 ◽  
Vol 222 (2) ◽  
pp. 277-285 ◽  
Author(s):  
S-J Zhu ◽  
Z Huang ◽  
M Y Zhao
Keyword(s):  
Control System ◽  
Cervical Spine ◽  
Parallel Manipulator ◽  
Parallel Manipulators ◽  
Degree Of Freedom ◽  
Short History ◽  
Translational Degree ◽  
And Performance

The 3R2T (three rotational and two independent translational degree of freedom (DoF)) symmetrical parallel manipulator may be adopted in bionics, for example, simulating the motion of a cervical spine based on their mobility property and performance close to isotropic limit. However, up to now, characteristics of this class of manipulators have not been well studied because of its short history. Hence, to study the feasibility of this class of manipulator for bionics, kinematics for 3-RCRR is analysed including position, singularity, velocity, and acceleration. Different from other 3R2T 5-DoF symmetrical parallel manipulators, the mobility of 3-RCRR is partially decoupled, which makes the realization of control system easier than in others.

Research on Motion Characteristic of an Integrated Testing System for High-Speed Train End Relationship Test

2011 ◽  
Vol 121-126 ◽  
pp. 4100-4104
Author(s):  
Ying Bo Wang ◽  
Shu Tao Zheng ◽  
Qi Tao Huang ◽  
Hong Guang Xu ◽  
Jun Wei Han
Keyword(s):  
System Integration ◽  
Parallel Manipulator ◽  
High Speed ◽  
Testing System ◽  
Motion Simulation ◽  
High Speed Train ◽  
Dynamic Tracking ◽  
Integrated Testing ◽  
Motion Characteristic ◽  
First Time

To test the motion characteristic of parts between two train cabinets, an integrated testing system based on the Stewart parallel manipulator for train end relationship has been built in the National Engineering Laboratory for System Integration of High-speed Train. It analyzed the kinematics of this system and carried out series of experimental test. The results of static positioning test and dynamic tracking test show that the testing system has a good characteristic of motion simulation. This is the first time that the Stewart parallel manipulator is applied in high-speed train field.

The Method of Modeling of a Novel 6-DOF Parallel Manipulator As a Generalized Virtual Road Vehicle for On-Board Equipment Test

2017 ◽  
Author(s):  
Yan Hu ◽  
Feng Gao ◽  
Rui Cao ◽  
Xianchao Zhao
Keyword(s):  
Inverse Kinematics ◽  
Parallel Manipulator ◽  
Motion Simulation ◽  
Road Vehicle ◽  
Full Size ◽  
Analytical Characterization ◽  
Vehicle Motion ◽  
Forward And Inverse Kinematics ◽  
Singular Configuration

This paper presents a novel 6-DOF parallel manipulator for a new kind of vehicle motion simulation system, which is referred to as GVRV system. This system can realistically replicate the motion of any specified spot within the cabin of a real road vehicle in real time. Unlike traditional automobile testing platforms and vehicle motion simulators which are aimed at the vehicle, this system is aimed at the development of on-board equipment. The objective of this paper is to study how to do the modeling and motion planning work of this proposed manipulator to make it qualified as a generalized virtual road vehicle (GVRV) for on-board equipment test. First, the analytical characterization of the proposed 6-DOF parallel manipulator is presented. The forward and inverse kinematics problems of this manipulator are solved and its advantages such as high isotropy, well decoupling characteristic and no singular configuration within the demanded workspace are illustrated. Then, based on the full-size prototype of the manipulator, the whole GVRV system is built and described. By the study of the requirements for vehicle motion reproduction, the method of modeling is presented for this purpose. Finally, experiments are presented to demonstrate the validity of the model of the 6-DOF parallel manipulator for vehicle motion reproduction for use in on-board equipment test.

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