scholarly journals A Finite and Instantaneous Screw Based Approach for Topology Design and Kinematic Analysis of 5-Axis Parallel Kinematic Machines

2018 ◽  
Vol 31 (1) ◽  
Author(s):  
Tao Sun ◽  
Shuo-Fei Yang ◽  
Tian Huang ◽  
Jian S. Dai
Keyword(s):  
Kinematic Analysis ◽  
Topology Design ◽  
Parallel Kinematic Machines ◽  
Axis Parallel ◽  
Parallel Kinematic ◽  
Instantaneous Screw

Kinematic analysis of limited-dof parallel manipulators based on translational/rotational Jacobian and Hessian matrices

Robotica ◽  
2009 ◽  
Vol 27 (7) ◽  
pp. 971-980 ◽  
Author(s):  
Yi Lu ◽  
Yan Shi ◽  
Jianping Yu
Keyword(s):  
Kinematic Analysis ◽  
Jacobian Matrix ◽  
Parallel Manipulators ◽  
Parallel Kinematic Machines ◽  
Parallel Kinematic

SUMMARYThis paper proposes an approach for solving the velocity and acceleration of the limited-dof (dof n < 6) parallel kinematic machines with linear active legs by means of translational/rotational Jacobian and Hessian matrices. First, based on the established or derived constraint and displacement equations, the translational/rotational Jacobian and Hessian matrices are derived. Second, the formulae for solving inverse/forward velocities and accelerations are derived from translational and rotational Jacobian/Hessian matrices. Third, a 2SPR + UPU PKM and a 2SPS + RPRR PKM are illustrated for explaining how to use this method. This approach is simple because it needs neither to eliminate 6-n rows of an n × 6 Jacobian matrix nor to determine the screw or pose of the constrained wrench.

Kinematic Analysis of a Novel 3-DOF Parallel Mechanism with Actuation Redundancy

2013 ◽  
Vol 816-817 ◽  
pp. 821-824
Author(s):  
Xue Mei Niu ◽  
Guo Qin Gao ◽  
Zhi Da Bao
Keyword(s):  
Kinematic Analysis ◽  
Parallel Mechanism ◽  
Rbf Neural Network ◽  
Analysis Method ◽  
Parallel Kinematic Mechanism ◽  
Redundantly Actuated ◽  
Parallel Kinematic ◽  
Forward Kinematic ◽  
Kinematic Mechanism ◽  
Kinematic Solution

Kinematic analysis plays an important role in the research of parallel kinematic mechanism. This paper addresses a novel forward kinematic solution based on RBF neural network for a novel 2PRRR-PPRR redundantly actuated parallel mechanism. Simulation results illustrate the validity and feasibility of the kinematic analysis method.

Functional simulator of 3-axis parallel kinematic milling machine

2008 ◽  
Vol 42 (7-8) ◽  
pp. 813-821 ◽  
Author(s):  
Milos Glavonjic ◽  
Dragan Milutinovic ◽  
Sasa Zivanovic
Keyword(s):  
Milling Machine ◽  
Axis Parallel ◽  
Parallel Kinematic

scholarly journals Conceptual design and comparative stiffness analysis of an Exechon-like parallel kinematic machine with lockable spherical joints

2017 ◽  
Vol 14 (4) ◽  
pp. 172988141772413
Author(s):  
Teng-fei Tang ◽  
Jun Zhang
Keyword(s):  
Conceptual Design ◽  
Prediction Accuracy ◽  
Parallel Kinematic Machine ◽  
Stiffness Analysis ◽  
Parallel Kinematic Machines ◽  
Stiffness Model ◽  
Dynamic Analyses ◽  
Parallel Kinematic ◽  
Kinetostatic Model ◽  
Limb Structure

This article proposes two types of lockable spherical joints which can perform three different motion patters by locking or unlocking corresponding rotational axes. Based on the proposed lockable spherical joints, a general reconfigurable limb structure with two passive joints is designed with which the conceptual designs of two types of Exechon-like parallel kinematic machines are completed. To evaluate the stiffness of the proposed Exechon-like parallel kinematic machines, an expanded kinetostatic model is established by including the compliances of all joints and limb structures. The prediction accuracy of the expanded stiffness model is validated by numerical simulations. The comparative stiffness analyses prove that the Exe-Variant parallel kinematic machine claims competitive rigidity performance to the Exechon parallel kinematic machine. The present work can provide useful information for further investigations on structural enhancement, rigidity improvement, and dynamic analyses of other Exechon-like parallel kinematic machines.

Configuring and analysis of a class of generalized reconfigurable 2-axis parallel kinematic machine

2019 ◽  
Vol 33 (7) ◽  
pp. 3407-3421 ◽  
Author(s):  
Goran Vasilic ◽  
Sasa Zivanovic ◽  
Branko Kokotovic ◽  
Zoran Dimic
Keyword(s):  
Parallel Kinematic Machine ◽  
Axis Parallel ◽  
Parallel Kinematic
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