Unification and simplification of velocity/acceleration of limited-dof parallel manipulators with linear active legs

被引：94

作者：

Lu, Yi ^{[1
]}

Hu, Bo ^{[1
]}

机构：

[1] Yanshan Univ, Coll Mech Engn, Robot Res Ctr, Qinhuangdao 066004, Hebei, Peoples R China

来源：

MECHANISM AND MACHINE THEORY | 2008年 / 43卷 / 09期

关键词：

parallel manipulator; kinematics; Jacobian matrix; Hessian matrix;

D O I：

10.1016/j.mechmachtheory.2007.08.002

中图分类号：

TH [机械、仪表工业];

学科分类号：

0802 ;

摘要：

A unified and simple approach is proposed for solving inverse/forward velocity and acceleration of the limited-dof PKMs (parallel kinematic machines) with linear active legs. First, a general PKM with linear active legs is constructed and some formulae for solving inverse displacement are derived. Second, the poses of the constrained wrench are determined and the formulae for solving auxiliary Jacobian/Hessian matrices and statics are derived. Third, some formulae are derived for solving the general velocity/acceleration, the 6 x 6 Jacobian matrix and the 6 x 6 x 6 Hessian matrix. Finally, the solving procedure is illustrated by applying it to a 3-SPR, a 4SPS + SPR and a 3-UPU PKMs. (c) 2007 Elsevier Ltd. All rights reserved.

引用

页码：1112 / 1128

页数：17

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