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The Kinematics Analysis of a Novel 3-DOF Cable-Driven Wind Tunnel Mechanism
Joint Authors
Source
Issue
Vol. 2010, Issue 2010 (31 Dec. 2010), pp.1-7, 7 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2010-08-05
Country of Publication
Egypt
No. of Pages
7
Main Subjects
Abstract EN
The kinematics analysis method of a novel 3-DOF wind tunnel mechanism based on cable-driven parallel mechanism is provided.
Rodrigues' parameters are applied to express the transformation matrix of the wire-driven mechanism in the paper.
The analytical forward kinematics model is described as three quadratic equations using three Rodridgues' parameters based on the fundamental theory of parallel mechanism.
Elimination method is used to remove two of the variables, so that an eighth-order polynomial with one variable is derived.
From the equation, the eight sets of Rodridgues' parameters and corresponding Euler angles for the forward kinematical problem can be obtained.
In the end, numerical example of both forward and inverse kinematics is included to demonstrate the presented forward-kinematics solution method.
The numerical results show that the method for the position analysis of this mechanism is effective.
American Psychological Association (APA)
Yu, Yao& Hongtao, Wu. 2010. The Kinematics Analysis of a Novel 3-DOF Cable-Driven Wind Tunnel Mechanism. Journal of Robotics،Vol. 2010, no. 2010, pp.1-7.
https://search.emarefa.net/detail/BIM-484838
Modern Language Association (MLA)
Yu, Yao& Hongtao, Wu. The Kinematics Analysis of a Novel 3-DOF Cable-Driven Wind Tunnel Mechanism. Journal of Robotics No. 2010 (2010), pp.1-7.
https://search.emarefa.net/detail/BIM-484838
American Medical Association (AMA)
Yu, Yao& Hongtao, Wu. The Kinematics Analysis of a Novel 3-DOF Cable-Driven Wind Tunnel Mechanism. Journal of Robotics. 2010. Vol. 2010, no. 2010, pp.1-7.
https://search.emarefa.net/detail/BIM-484838
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-484838