Kinematic Analysis of 3-SPS/UPR Parallel Worktable
A worktable of 3-SPS/UPR parallel mechanism is proposed, which is used to assist the less degree of freedom machine tool to process the surface of the workpiece. The kinematic screw matrix of the 3-SPS/UPR parallel mechanism is established; its degree of freedom is analyzed by the screw theory and v...
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| Format: | Article |
| Language: | zho |
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Editorial Office of Journal of Mechanical Transmission
2022-12-01
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| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2022.12.024 |
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| author | Bai Xueqing Wang Yuan Li You |
| author_facet | Bai Xueqing Wang Yuan Li You |
| author_sort | Bai Xueqing |
| collection | DOAJ |
| description | A worktable of 3-SPS/UPR parallel mechanism is proposed, which is used to assist the less degree of freedom machine tool to process the surface of the workpiece. The kinematic screw matrix of the 3-SPS/UPR parallel mechanism is established; its degree of freedom is analyzed by the screw theory and verified by the modified Kutzbach-Grübler formula; through the geometric relationship in the mechanism, the closed vector method is used to solve the inverse position solution of the mechanism, and the velocity Jacobian matrix of the mechanism is derived; the workspace of the mechanism is solved by three-dimensional dynamic search method; the kinematics of the parallel worktable is simulated by the Adams software. The 3-SPS/UPR parallel mechanism can carry out the movement of two translation and two rotation, improve the machining efficiency and quality of the machine tool, increase the machining range of the machine tool and improve the surface machining ability of the machine tool. |
| format | Article |
| id | doaj-art-35e669757b0c4a57a00bd8342d440b9b |
| institution | Kabale University |
| issn | 1004-2539 |
| language | zho |
| publishDate | 2022-12-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj-art-35e669757b0c4a57a00bd8342d440b9b2025-01-10T14:56:52ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392022-12-014615516033108658Kinematic Analysis of 3-SPS/UPR Parallel WorktableBai XueqingWang YuanLi YouA worktable of 3-SPS/UPR parallel mechanism is proposed, which is used to assist the less degree of freedom machine tool to process the surface of the workpiece. The kinematic screw matrix of the 3-SPS/UPR parallel mechanism is established; its degree of freedom is analyzed by the screw theory and verified by the modified Kutzbach-Grübler formula; through the geometric relationship in the mechanism, the closed vector method is used to solve the inverse position solution of the mechanism, and the velocity Jacobian matrix of the mechanism is derived; the workspace of the mechanism is solved by three-dimensional dynamic search method; the kinematics of the parallel worktable is simulated by the Adams software. The 3-SPS/UPR parallel mechanism can carry out the movement of two translation and two rotation, improve the machining efficiency and quality of the machine tool, increase the machining range of the machine tool and improve the surface machining ability of the machine tool.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2022.12.0243-SPS/UPR parallel mechanismDegree of freedomPosition inverse solutionWorkspaceAdams software |
| spellingShingle | Bai Xueqing Wang Yuan Li You Kinematic Analysis of 3-SPS/UPR Parallel Worktable Jixie chuandong 3-SPS/UPR parallel mechanism Degree of freedom Position inverse solution Workspace Adams software |
| title | Kinematic Analysis of 3-SPS/UPR Parallel Worktable |
| title_full | Kinematic Analysis of 3-SPS/UPR Parallel Worktable |
| title_fullStr | Kinematic Analysis of 3-SPS/UPR Parallel Worktable |
| title_full_unstemmed | Kinematic Analysis of 3-SPS/UPR Parallel Worktable |
| title_short | Kinematic Analysis of 3-SPS/UPR Parallel Worktable |
| title_sort | kinematic analysis of 3 sps upr parallel worktable |
| topic | 3-SPS/UPR parallel mechanism Degree of freedom Position inverse solution Workspace Adams software |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2022.12.024 |
| work_keys_str_mv | AT baixueqing kinematicanalysisof3spsuprparallelworktable AT wangyuan kinematicanalysisof3spsuprparallelworktable AT liyou kinematicanalysisof3spsuprparallelworktable |