Kinematics analysis and statics of a 2SPS+UPR parallel manipulator

被引：8

作者：

Lu, Yi ^{[1
]}

Hu, Bo ^{[1
]}

Shi, Yan ^{[1
]}

机构：

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

来源：

MULTIBODY SYSTEM DYNAMICS | 2007年 / 18卷 / 04期

关键词：

parallel manipulator; kinematics; active force; constrained force; workspace;

D O I：

10.1007/s11044-007-9054-6

中图分类号：

O3 [力学];

学科分类号：

08 ; 0801 ;

摘要：

In this paper, the kinematics and statics of a 2SPS+UPR parallel manipulator are studied systematically. First, its simulation mechanism is created, and formulae for solving the inverse/forward displacement kinematics are derived. Second, formulae for solving inverse/forward velocity and active/constrained forces are derived. Third, formulae for solving inverse/forward acceleration are derived, and a workspace is analysed. The analytic results are verified by its simulation mechanism.

引用

页码：619 / 636

页数：18

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