Optimization Design and Kinematics Analysis of a Low DOF Parallel Mechanism
Focus on the realization of two kinds of function of stabilization and tracking of lowDOF parallel mechanism,by using the screw theory,a 2-SUP（U）parallel mechanism is designed,and the DOF of this mechanism is analyzed.According to the motion characteristic of this parallel mechanism,using vector alg...
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| Format: | Article |
| Language: | zho |
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Editorial Office of Journal of Mechanical Transmission
2015-01-01
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| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2015.03.018 |
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| _version_ | 1841548215634100224 |
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| author | Han Meng Wang Changming |
| author_facet | Han Meng Wang Changming |
| author_sort | Han Meng |
| collection | DOAJ |
| description | Focus on the realization of two kinds of function of stabilization and tracking of lowDOF parallel mechanism,by using the screw theory,a 2-SUP（U）parallel mechanism is designed,and the DOF of this mechanism is analyzed.According to the motion characteristic of this parallel mechanism,using vector algorithms with Rodrigues parameters,the kinematics analysis is carried out,and the calculation method of position inverse and velocity inverse is deduced respectively.Moreover,the simulation is carried out with the Matlab,the position,velocity and other characteristics curve are obtained.The theory foundation for the control of position and velocity of this mechanism is provided. |
| format | Article |
| id | doaj-art-454268219d1f4c888f9616dec3eb3069 |
| institution | Kabale University |
| issn | 1004-2539 |
| language | zho |
| publishDate | 2015-01-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj-art-454268219d1f4c888f9616dec3eb30692025-01-10T14:08:15ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392015-01-0139676929915603Optimization Design and Kinematics Analysis of a Low DOF Parallel MechanismHan MengWang ChangmingFocus on the realization of two kinds of function of stabilization and tracking of lowDOF parallel mechanism,by using the screw theory,a 2-SUP（U）parallel mechanism is designed,and the DOF of this mechanism is analyzed.According to the motion characteristic of this parallel mechanism,using vector algorithms with Rodrigues parameters,the kinematics analysis is carried out,and the calculation method of position inverse and velocity inverse is deduced respectively.Moreover,the simulation is carried out with the Matlab,the position,velocity and other characteristics curve are obtained.The theory foundation for the control of position and velocity of this mechanism is provided.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2015.03.018Parallel mechanismScrew theoryKinematics analysis |
| spellingShingle | Han Meng Wang Changming Optimization Design and Kinematics Analysis of a Low DOF Parallel Mechanism Jixie chuandong Parallel mechanism Screw theory Kinematics analysis |
| title | Optimization Design and Kinematics Analysis of a Low DOF Parallel Mechanism |
| title_full | Optimization Design and Kinematics Analysis of a Low DOF Parallel Mechanism |
| title_fullStr | Optimization Design and Kinematics Analysis of a Low DOF Parallel Mechanism |
| title_full_unstemmed | Optimization Design and Kinematics Analysis of a Low DOF Parallel Mechanism |
| title_short | Optimization Design and Kinematics Analysis of a Low DOF Parallel Mechanism |
| title_sort | optimization design and kinematics analysis of a low dof parallel mechanism |
| topic | Parallel mechanism Screw theory Kinematics analysis |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2015.03.018 |
| work_keys_str_mv | AT hanmeng optimizationdesignandkinematicsanalysisofalowdofparallelmechanism AT wangchangming optimizationdesignandkinematicsanalysisofalowdofparallelmechanism |