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.

A novel 4-RRCR parallel mechanism based on screw theory and its kinematics analysis

2012 ◽  
Vol 227 (9) ◽  
pp. 2039-2048 ◽  
Author(s):  
Sheng Guo ◽  
Congzhe Wang ◽  
Haibo Qu ◽  
Yuefa Fang
Keyword(s):  
Parallel Mechanism ◽  
Jacobian Matrix ◽  
Screw Theory ◽  
Degree Of Freedom ◽  
Forward Kinematics ◽  
Kinematics Analysis ◽  
Elimination Method ◽  
Direct Kinematics

In this article, a novel 4-RRCR parallel mechanism is introduced based on screw theory, and its kinematics and singularity are studied systematically. First, the degree of freedom analysis is performed using the screw theory. The formulas for solving the inverse and direct kinematics are derived. Second, a recursive elimination method is proposed to solve the Jacobian matrix based on the algebra operation of reciprocal product. Then, three kinds of singularity, i.e. limb, platform, and actuation singularities are analyzed. Finally, the analysis proves that the proposed mechanism possesses two advantages of simple forward kinematics and no platform singularity.

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.

Kinematics Simulation of Parallel Mechanism Based on ADAMS

2012 ◽  
Vol 538-541 ◽  
pp. 479-482
Author(s):  
Xin Yu Du ◽  
Hong Wei Liu
Keyword(s):  
Parallel Mechanism ◽  
Screw Theory ◽  
Virtual Prototype ◽  
Degree Of Freedom ◽  
Kinematics Analysis ◽  
Kinematics Simulation ◽  
Spatial Parallel Mechanism ◽  
Moving Platform ◽  
Simulation Results ◽  
Position And Orientation

In this paper,a kind of 3-UPU spatial parallel mechanism is introduced. Through deep analysis of the degree-of-freedom (DoF) for the platform using screw theory， the position and orientation of the moving platform is discussed. At last, the 3D virtual prototype modeling of this 3-UPU parallel mechanism based on software ADAMS is developed; the kinematics simulation and analysis are also carried out accordingly. From the simulation results, we can see that the proposed calculation of the DoFs and kinematics analysis is correct.

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.

Design and Kinematics Analysis of a Novel Planar Parallel Mechanism

2014 ◽  
Vol 568-570 ◽  
pp. 904-910
Author(s):  
Yan Bin Zhang ◽  
Hui Ping Wang
Keyword(s):  
Condition Number ◽  
Parallel Mechanism ◽  
Jacobian Matrix ◽  
Screw Theory ◽  
Kinematics Analysis ◽  
Moving Platform ◽  
One To One ◽  
Actuated Joints

A novel 3-dof planar parallel mechanism, which is composed by three different limbs, is designed. The moving platform can translate along two directions and rotate around one axis with respect to the base. Mobility of the mechanism is discussed and calculated based on the screw theory. The forward and the inverse analytical position equations are derived and the veloctiy analysis is addressed too. The Jacobian matrix is an identical one, so there exists one-to-one corresponding linear controlling relationship between one of the actuated joints and one of the outputs of the platform. Moreover, the condition number of the Jacobian matrix is constantly equal to one and the mechanism shows fully-isotropic throughout entire workspace.

scholarly journals A New Metamorphic Parallel Leg Mechanism with Reconfigurable Moving Platform

2020 ◽  
Vol 2020 ◽  
pp. 1-11
Author(s):  
Yong Xu ◽  
Zheng Liang ◽  
Jiali Liu
Keyword(s):  
Parallel Mechanism ◽  
Degrees Of Freedom ◽  
Closed Loop ◽  
Screw Theory ◽  
Degree Of Freedom ◽  
Walking Robots ◽  
Metamorphic Mechanism ◽  
Parallel Leg Mechanism ◽  
Moving Platform ◽  
Configuration Synthesis

This paper proposes the concept of full configuration state of metamorphic mechanism. Based on the concept, the configuration synthesis principle of metamorphic parallel mechanism is put forward. Firstly, a metamorphic parallel mechanism in full configuration state is synthesized, and then full configuration state evolves into a specific configuration state by increasing constraints or decreasing degrees of freedom. A reconfigurable moving platform based on the triple symmetric Bricard spatial closed-loop mechanism with a single degree of freedom is proposed. Based on this, a new method for switching motion configuration states of the metamorphic parallel mechanism is constructed. According to the configuration synthesis principle presented above, a novel metamorphic parallel mechanism that can switch between three- and four-degree-of-freedom is synthesized, and then the triple symmetric Bricard spatial closed-loop mechanism is used as the reconfigurable moving platform (that is, the reconfigurable foot of a walking robot) of the metamorphic mechanism, and thus, a novel metamorphic parallel leg mechanism is created. The screw theory is used to verify the degrees of freedom of the new type of metamorphic parallel leg. The proposed metamorphic parallel leg mechanism is expected to improve flexibility and adaptability of walking robots in unstructured environment.

Design and Analysis of a New Type Forging Manipulator

2017 ◽  
Author(s):  
Yanwen Li ◽  
Xiaofei Shi ◽  
Pengfei Mao ◽  
Yubo Cai ◽  
Maoling Wang
Keyword(s):  
Parallel Mechanism ◽  
Large Scale ◽  
Screw Theory ◽  
Synthesis Method ◽  
Degree Of Freedom ◽  
Lateral Movement ◽  
Kinematic Position ◽  
New Type ◽  
Forging Manipulator ◽  
Increasing Demand

Large-scale forging manipulator is the indispensable equipment in the operations of automated forging. Because of the increasing demand of forging manipulator, large and medium-sized enterprises pay more and more attention to the forging operation in production. Lower freedom parallel mechanism is obtained by using the constraint-synthesis method based on the screw theory, then a mechanism of forging manipulator is designed including raising and lowering, pitching, lateral swing, lateral movement, forth or back and clamp rotation. The new type forging manipulator is a hybrid serial-parallel mechanism. The degree of freedom of the parallel mechanism is calculated by using the modified Grübler-Kutzbach criterion, and then the degree of freedom of the machine is determined. Through closed geometric method, the kinematic position analysis is performed, and the correctness of the theoretical analysis results is verified.

Design and Kinematic Analysis of a 3RRlS Metamorphic Parallel Mechanism for Large-Scale Reconfigurable Space Multifingered Hand

2018 ◽  
Vol 10 (4) ◽  
Author(s):  
Chong Zhao ◽  
Hongwei Guo ◽  
Rongqiang Liu ◽  
Zongquan Deng ◽  
Bing Li
Keyword(s):  
Shape Memory Alloy ◽  
Kinematic Analysis ◽  
Parallel Mechanism ◽  
Large Scale ◽  
Screw Theory ◽  
Kinematic Equation ◽  
Aerospace Application ◽  
Parasitic Motion ◽  
Geometric Conditions ◽  
In Series

Capturing noncooperative targets in space has great prospects for aerospace application. In this work, the knuckle unit of a large-scale reconfigurable space multifingered hand (LSRSMFH) for multitask requirements is studied. A plurality of knuckle units is connected in series to form a finger of the LSRSMFH. First, the lockable spherical (lS) joint, a new metamorphic joint that can function as a Hooke (lS1) or spherical (lS2) joint and is driven by shape memory alloy (SMA) material, is proposed. Based on the lS joint, this paper presents a new metamorphic parallel mechanism (MPM) (i.e., 3RRlS MPM), which has four configurations, namely, 3RRlS1, 3RRlS2, 2RRlS1-RRlS2, and 2RRlS2-RRlS1 configuration. The degree-of-freedom (DOF), overconstraint, and parasitic motion of the 3RRlS MPM are analyzed using screw theory, of which the DOF can be changed from 1 to 3. The 3RRlS1 configuration has a virtual constraint, and the 3RRlS2 configuration has parasitic motions. The results indicate that the mechanism motion screws can qualitatively represent the mechanism parasitic motions, and it is verified by deriving the kinematic equation of the 3RRlS MPM based on its spatial geometric conditions, the workspace of the 3RRlS MPM is further solved. The kinematic analysis indicates that the 3RRlS MPM can realize the folding, capturing, and reconfiguring conditions of the LSRSMFH.

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