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Kinematics Comparative Study of Two Overconstrained Parallel Manipulators
Joint Authors
Yan, Qiang
Li, Bin
Zhao, Xinhua
Li, Yangmin
Source
Mathematical Problems in Engineering
Issue
Vol. 2016, Issue 2016 (31 Dec. 2016), pp.1-12, 12 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2016-10-30
Country of Publication
Egypt
No. of Pages
12
Main Subjects
Abstract EN
A comparison study of kinematics characteristics of two overconstrained 2-RPU&SPR parallel manipulators (PMs) is introduced in this paper.
The two 2-RPU&SPR PMs have the same kinematics properties in terms of one translational degree of freedom (DOF) and two rotational DOFs kinematics outputs.
But there are some differences between the two PMs as far as joints distribution is concerned, leading to the differences in respect of workspace and dexterity of the two PMs.
Firstly, based on screw theory, the structural characteristics and DOFs of the two PMs are analyzed.
Secondly, the inverse and forward displacements problems for the two PMs are formulated by analytic formulae.
Some numerical examples are simulated by software.
Thirdly, based on algorithm for the direct displacement solution, the workspace characteristics of the two PMs are analyzed and compared.
Then, the Jacobian matrices of the mechanisms are formulated.
Based on the Jacobian matrices, the dexterities of the two PMs are established and compared.
Finally, according to the comparisons of the properties between the two PMs, some useful conclusions are provided.
American Psychological Association (APA)
Yan, Qiang& Li, Bin& Li, Yangmin& Zhao, Xinhua. 2016. Kinematics Comparative Study of Two Overconstrained Parallel Manipulators. Mathematical Problems in Engineering،Vol. 2016, no. 2016, pp.1-12.
https://search.emarefa.net/detail/BIM-1112267
Modern Language Association (MLA)
Yan, Qiang…[et al.]. Kinematics Comparative Study of Two Overconstrained Parallel Manipulators. Mathematical Problems in Engineering No. 2016 (2016), pp.1-12.
https://search.emarefa.net/detail/BIM-1112267
American Medical Association (AMA)
Yan, Qiang& Li, Bin& Li, Yangmin& Zhao, Xinhua. Kinematics Comparative Study of Two Overconstrained Parallel Manipulators. Mathematical Problems in Engineering. 2016. Vol. 2016, no. 2016, pp.1-12.
https://search.emarefa.net/detail/BIM-1112267
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1112267