Kinetostatic Analysis of 4-R(CRR) Parallel Manipulator with Overconstraints via Reciprocal-Screw Theory
Joint Authors
Liu, Jingfang
Zhao, Yan
Huang, Zhen
Source
Advances in Mechanical Engineering
Issue
Vol. 2010, Issue 2010 (31 Dec. 2010), pp.1-11, 11 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2009-12-28
Country of Publication
Egypt
No. of Pages
11
Main Subjects
Abstract EN
The paper proposes a new approach based on reciprocal screw theory to analyze kinetostatics of lower-mobility parallel mechanisms with overconstraints and static indeterminacy.
For force analysis of parallel mechanisms, the main reactions should be solved firstly, and then all other constraint reactions are easy to be obtained.
The approach can remarkably reduce the number of unknowns and keep the number of simultaneous equilibrium equations not more than six each time.
For static indeterminacy, it also needs to set some complementary equations.
All active forces and constraint reactions of the kinematic pairs can be simultaneously obtained by analyzing the equilibrium of everybody one by one.
A 4-R(CRR) parallel manipulator with collinear-force static indeterminacy is taken to introduce the method, which indicates that the method is simple and effective.
American Psychological Association (APA)
Huang, Zhen& Zhao, Yan& Liu, Jingfang. 2009. Kinetostatic Analysis of 4-R(CRR) Parallel Manipulator with Overconstraints via Reciprocal-Screw Theory. Advances in Mechanical Engineering،Vol. 2010, no. 2010, pp.1-11.
https://search.emarefa.net/detail/BIM-469424
Modern Language Association (MLA)
Huang, Zhen…[et al.]. Kinetostatic Analysis of 4-R(CRR) Parallel Manipulator with Overconstraints via Reciprocal-Screw Theory. Advances in Mechanical Engineering No. 2010 (2010), pp.1-11.
https://search.emarefa.net/detail/BIM-469424
American Medical Association (AMA)
Huang, Zhen& Zhao, Yan& Liu, Jingfang. Kinetostatic Analysis of 4-R(CRR) Parallel Manipulator with Overconstraints via Reciprocal-Screw Theory. Advances in Mechanical Engineering. 2009. Vol. 2010, no. 2010, pp.1-11.
https://search.emarefa.net/detail/BIM-469424
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-469424