Analysis on Kinematics of 3-PRP Planar Parallel Mechanism
A kind of 3-DOF planar parallel mechanism which has two translational and one rotational is introduced.Firstly,the position and posture analysis of the parallel mechanism is conducted,its positive and inverse solution equations are established,and then the position positive and inverse solution are...
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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.1004.2539.2015.01.010 |
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| _version_ | 1841548133191909376 |
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| author | Dong Qianwen Liu Yongjiang Li Ruiqin Jiang Hongjun |
| author_facet | Dong Qianwen Liu Yongjiang Li Ruiqin Jiang Hongjun |
| author_sort | Dong Qianwen |
| collection | DOAJ |
| description | A kind of 3-DOF planar parallel mechanism which has two translational and one rotational is introduced.Firstly,the position and posture analysis of the parallel mechanism is conducted,its positive and inverse solution equations are established,and then the position positive and inverse solution are solved.Secondly,by using the MATLAB to calculate a group of experimental data,the results can be used to test the correctness of equations.At last,according to the positive and inverse solutions equations,the velocity and acceleration of mechanism input and output are solved.The results show that the structure of 3-PRP mechanism is simple and also can be easy to control and drive,meanwhile,the researching results established a certain theoretical basis for the performance research on the mechanism such as workspace,trajectory planning and optimum design. |
| format | Article |
| id | doaj-art-594eb6efcae041f5838064c5614a17eb |
| 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-594eb6efcae041f5838064c5614a17eb2025-01-10T14:13:59ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392015-01-0139353829914958Analysis on Kinematics of 3-PRP Planar Parallel MechanismDong QianwenLiu YongjiangLi RuiqinJiang HongjunA kind of 3-DOF planar parallel mechanism which has two translational and one rotational is introduced.Firstly,the position and posture analysis of the parallel mechanism is conducted,its positive and inverse solution equations are established,and then the position positive and inverse solution are solved.Secondly,by using the MATLAB to calculate a group of experimental data,the results can be used to test the correctness of equations.At last,according to the positive and inverse solutions equations,the velocity and acceleration of mechanism input and output are solved.The results show that the structure of 3-PRP mechanism is simple and also can be easy to control and drive,meanwhile,the researching results established a certain theoretical basis for the performance research on the mechanism such as workspace,trajectory planning and optimum design.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2015.01.0103-PRP parallel mechanismKinematicsPosition and posture analysisSimulation |
| spellingShingle | Dong Qianwen Liu Yongjiang Li Ruiqin Jiang Hongjun Analysis on Kinematics of 3-PRP Planar Parallel Mechanism Jixie chuandong 3-PRP parallel mechanism Kinematics Position and posture analysis Simulation |
| title | Analysis on Kinematics of 3-PRP Planar Parallel Mechanism |
| title_full | Analysis on Kinematics of 3-PRP Planar Parallel Mechanism |
| title_fullStr | Analysis on Kinematics of 3-PRP Planar Parallel Mechanism |
| title_full_unstemmed | Analysis on Kinematics of 3-PRP Planar Parallel Mechanism |
| title_short | Analysis on Kinematics of 3-PRP Planar Parallel Mechanism |
| title_sort | analysis on kinematics of 3 prp planar parallel mechanism |
| topic | 3-PRP parallel mechanism Kinematics Position and posture analysis Simulation |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2015.01.010 |
| work_keys_str_mv | AT dongqianwen analysisonkinematicsof3prpplanarparallelmechanism AT liuyongjiang analysisonkinematicsof3prpplanarparallelmechanism AT liruiqin analysisonkinematicsof3prpplanarparallelmechanism AT jianghongjun analysisonkinematicsof3prpplanarparallelmechanism |