Analyzing kinematics and solving active/constrained forces of a 4-dof 3SPS+SP parallel manipulator

被引：5
|
作者：
Lu, Yi [1 ]
Hu, Bo [1 ]
机构：
[1] Yanshan Univ Qinhuangdao, Coll Mech Engn, Robot Res Ctr, Qingdao 066004, Hebei, Peoples R China
来源：
ROBOTICA | 2009年 / 27卷
关键词：
Parallel manipulator; Kinematics; Workspace; Active force; Constrained force; CAD FUNCTIONALITIES; INVERSE DYNAMICS; PRINCIPLE;
D O I：
10.1017/S0263574708004499
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
A novel 3SPS+SP parallel manipulator (PM) with 4-dof is proposed. Its kinematics and statics are analyzed systematically. The analytic formulae for solving the displacement. velocity, acceleration, workspace, active forces and constrained force are derived. The analytic results are verified by using a simulation mechanism of the 3SPS+SP PM.
引用
收藏
页码：29 / 36
页数：8
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