Kinematic Analysis of 4-UPU Parallel Mechanism Based on Influence Coefficient

2015 ◽  
Vol 741 ◽  
pp. 691-696 ◽  
Author(s):  
Guang Lan Xia ◽  
Xing Wei Hu ◽  
Bao Lin Yin ◽  
Feng Yu
Keyword(s):  
Numerical Analysis ◽  
Kinematic Analysis ◽  
Parallel Mechanism ◽  
Coefficient Matrix ◽  
Degree Of Freedom ◽  
Kinematics And Dynamics ◽  
Influence Coefficient ◽  
Mechanism Analysis ◽  
Acceleration Coefficient ◽  
Mechanism Kinematic

Mechanism kinematic influence coefficient deeply reflects the essence of the kinematics and dynamics mechanism, analysis of the problems of many institutions can use the influence coefficient of clear and clearly expressed. In this paper, with less degree of freedom parallel mechanism as the research object, through the virtual mechanism method to derive one or two order influence coefficient matrix, based on the analysis of the mechanism and influence of speed and acceleration coefficient matrix. Finally, the precision of the method for solving the kinematics is proved by examples of numerical analysis.

Kinematic Analysis of A Novel 2-UPU/2-URU Parallel Mechanism

2011 ◽  
Vol 317-319 ◽  
pp. 469-474
Author(s):  
Shi Hua Li ◽  
Zhi Song Wang ◽  
Chang Cheng Yu ◽  
Wen Gong
Keyword(s):  
Kinematic Analysis ◽  
Parallel Mechanism ◽  
Screw Theory ◽  
Degree Of Freedom ◽  
Influence Coefficient ◽  
Performance Curve ◽  
Kinematics Analysis

Abstract. In this paper, a novel type of 2-UPU/2-URU asymmetric parallel mechanism is put forward, the degree of freedom and kinematics characteristics of the mechanism is analyzed. Firstly, based on screw theory, the degree of freedom of the mechanism is analyzed by using modified Grübler-Kutzbach formula of Degree of Freedom, the method is ingenious and simple. Then the kinematics analysis is done. Finally, the velocity and acceleration of the mechanism is analyzed by combining kinematic influence coefficient theory with imaginary mechanism method, and draw the velocity and acceleration performance curve of the mechanism with the MATLAB. This paper lays the foundation for further research of the parallel mechanism.

Kinematic and Workspace Modelling of a 6-PUS Parallel Mechanism

2018 ◽  
Author(s):  
Jérôme Landuré ◽  
Clément Gosselin
Keyword(s):  
Kinematic Analysis ◽  
Parallel Mechanism ◽  
Inverse Kinematic ◽  
Degree Of Freedom ◽  
Accurate Description ◽  
Transmission Ratio ◽  
Inverse Kinematic Problem ◽  
Jacobian Matrices ◽  
Six Degree Of Freedom

This article presents the kinematic analysis of a six-degree-of-freedom six-legged parallel mechanism of the 6-PUS architecture. The inverse kinematic problem is recalled and the Jacobian matrices are derived. Then, an algorithm for the geometric determination of the workspace is presented, which yields a very fast and accurate description of the workspace of the mechanism. Singular boundaries and a transmission ratio index are then introduced and studied for a set of architectural parameters. The proposed analysis yields conceptual architectures whose properties can be adjusted to fit given applications.

Acceleration and Dexterity Performance Indices for 6-DOF and Lower-Mobility Parallel Mechanism

2004 ◽  
Author(s):  
X. J. Guo ◽  
F. Q. Chang ◽  
S. J. Zhu
Keyword(s):  
Parallel Mechanism ◽  
Robot Manipulator ◽  
Coefficient Matrix ◽  
Second Order ◽  
Influence Coefficient ◽  
Global Index ◽  
Performance Indices ◽  
First Order ◽  
Lower Mobility

On the basis of first-order and second-order kinematic influence coefficient matrices, dynamics characteristics indices for robot manipulator are presented in the paper. Different from indices before, these indices include not only the first-order kinematics influence coefficient matrix G, but also the second-order kinematic influence coefficient matrix H. Then with the global index, these indices can be used to guide the dynamics design.

Design and Analysis of 3-DOF Micromanipulator Driven by Piezoelectric Actuators

2008 ◽  
Author(s):  
Shihua Li ◽  
Yue Zhang ◽  
Zhen Huang ◽  
Changcheng Yu ◽  
Wenhua Ding
Keyword(s):  
Finite Element ◽  
Finite Element Modeling ◽  
Parallel Mechanism ◽  
Piezoelectric Actuators ◽  
Coefficient Matrix ◽  
Influence Coefficient ◽  
Velocity Analysis ◽  
First Order ◽  
Flexure Hinges ◽  
Moving Platform

A novel 3-DOF parallel micromanipulator which is driven by piezoelectric actuators has been developed that based on 3–5R parallel mechanism. The micromanipulator consists of a moving platform, a fixed platform, three 5R fixed-length chains and three piezoelectric actuators. In this paper, the first-order influence coefficient matrix of the micromanipulator is given, and then the velocity analysis is given. The dimension of the platform and flexure hinges and the position of flexure are designed, and the safety check of the flexible hinges and the designed mechanism is done with the aid of finite element modeling to provide good stiffness with little bending deformation of the platform. The merits of parallel mechanism and piezoelectric actuators are reflected in this mechanism.

Influence Coefficients and Singularity Analysis of a Novel 3-UPU Parallel Mechanism

2017 ◽  
Author(s):  
Ziming Chen ◽  
Dongliang Cheng ◽  
Yang Zhang ◽  
Zhiwei Yang ◽  
Jin Zhou
Keyword(s):  
Parallel Mechanism ◽  
Degrees Of Freedom ◽  
Model Simulation ◽  
Hessian Matrix ◽  
Symmetry Plane ◽  
Coefficient Matrix ◽  
Singularity Analysis ◽  
Influence Coefficient ◽  
Parasitic Motion ◽  
Moving Platform

A novel 3-UPU parallel mechanism with two rotational and one translational (2R1T) degrees of freedom (DOFs) is analyzed in this paper. The base and moving platform of this mechanism are always symmetric about a middle symmetry plane. The moving platform can rotate continuously about any axis on the middle symmetry plane, so there exists no parasitic motion during the rotation. Using the kinematic influence coefficient theory and the imaginary mechanism method, the first and second order influence coefficient matrix (namely Jacobian matrix and Hessian matrix) of this mechanism are derived. The relations between the velocity and acceleration of the moving platform and the actuated links are obtained. In order to verify the correctness of the theory, two numerical examples are enumerated and varified by the 3D model simulation. The singularities of this mechanism is discussed and the singular configurations of the mechanism, including one kind of limb singularity and two kinds of platform singularities, are obtained.

Stiffness and singularity analysis of foldable parallel mechanism for ship-based stabilized platform

Robotica ◽  
2014 ◽  
Vol 34 (4) ◽  
pp. 913-924 ◽  
Author(s):  
Tie-shi Zhao ◽  
Chang Wang ◽  
Xiao Liu ◽  
Hui Bian ◽  
Yan-zhi Zhao
Keyword(s):  
Stiffness Matrix ◽  
Parallel Mechanism ◽  
Singularity Analysis ◽  
Degree Of Freedom ◽  
Influence Coefficient ◽  
Rotational Stiffness ◽  
Closed Chain ◽  
Moving Platform ◽  
Stabilized Platform ◽  
Directional Stiffness

SUMMARYThis paper investigates a 6-degree-of-freedom foldable parallel mechanism for the ship-based stabilized platform, which is driven by closed chain linkages. The velocity and acceleration mappings between the moving platform and inputs of the closed chain linkages are deduced in the form of the first- and second-order influence coefficient matrices. The continuous stiffness matrix is deduced; furthermore, the translation and rotational stiffness along any direction are also deduced. With directional stiffness, the singularity of the mechanism is analyzed, and the explanation of the singularity is given from the viewpoint of stiffness. The directions the platform cannot move or lose its constraints are got from directional stiffness.

scholarly journals Kinematic analysis of a novel uncoupled and isotropic 2-degree-of-freedom parallel mechanism

2016 ◽  
Vol 8 (3) ◽  
pp. 168781401663804 ◽  
Author(s):  
Guojun Niu ◽  
Bo Pan ◽  
Fuhai Zhang ◽  
Haibo Feng ◽  
Yili Fu
Keyword(s):  
Kinematic Analysis ◽  
Parallel Mechanism ◽  
Degree Of Freedom
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