Positive Kinematics Analysis of 3-RRR Spherical Parallel Robot
In view of the structural characteristics of spherical 3-DOF parallel mechanism, which all the joints are rotating joints and the joint axes intersect at one point, the position of the component is expressed by quaternion by means of the corresponding relationship between the long arc on the sphere...
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| Format: | Article |
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Editorial Office of Journal of Mechanical Transmission
2019-07-01
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| Series: | Jixie chuandong |
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| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2019.07.006 |
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| author | lin Zhang Xuxia Guo Gemeng Shi Lansheng Jia li Wang |
| author_facet | lin Zhang Xuxia Guo Gemeng Shi Lansheng Jia li Wang |
| author_sort | lin Zhang |
| collection | DOAJ |
| description | In view of the structural characteristics of spherical 3-DOF parallel mechanism, which all the joints are rotating joints and the joint axes intersect at one point, the position of the component is expressed by quaternion by means of the corresponding relationship between the long arc on the sphere surface and quaternion algebra. The product of quaternions is used to describe the component position change caused by joint rotation, and the direction cosine of the joint axis is obtained through the corresponding relationship between the geometric addition of the long arc on the sphere surface and the multiplication of quaternions, thus the constraint equation of the robot is established. The constraint equation is proceed subtly by a clever variable, which reduced the data in the symbolic operation of MATLAB, solved the problem that the effective results could not be obtained when the operation exceeded the computer memory, and the positive closed equation of the robot is established. By using the influence coefficient method, the transfer relation between the angular velocity and angular acceleration of the robot active component and the corner cone on the end component is established. The examples show that, there are 8 kinematics solutions for the given position of the active component in the top pyramid group. And according to the example of the continuous motion of the active robot component, the changing course of angular velocity and angular acceleration in the position of the top pyramid is simulated. |
| format | Article |
| id | doaj-art-67eb8d5b4bf34e44b85d227ea94f9502 |
| institution | Kabale University |
| issn | 1004-2539 |
| language | zho |
| publishDate | 2019-07-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj-art-67eb8d5b4bf34e44b85d227ea94f95022025-01-10T13:58:49ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392019-07-0143273430649641Positive Kinematics Analysis of 3-RRR Spherical Parallel Robotlin ZhangXuxia GuoGemeng ShiLansheng Jiali WangIn view of the structural characteristics of spherical 3-DOF parallel mechanism, which all the joints are rotating joints and the joint axes intersect at one point, the position of the component is expressed by quaternion by means of the corresponding relationship between the long arc on the sphere surface and quaternion algebra. The product of quaternions is used to describe the component position change caused by joint rotation, and the direction cosine of the joint axis is obtained through the corresponding relationship between the geometric addition of the long arc on the sphere surface and the multiplication of quaternions, thus the constraint equation of the robot is established. The constraint equation is proceed subtly by a clever variable, which reduced the data in the symbolic operation of MATLAB, solved the problem that the effective results could not be obtained when the operation exceeded the computer memory, and the positive closed equation of the robot is established. By using the influence coefficient method, the transfer relation between the angular velocity and angular acceleration of the robot active component and the corner cone on the end component is established. The examples show that, there are 8 kinematics solutions for the given position of the active component in the top pyramid group. And according to the example of the continuous motion of the active robot component, the changing course of angular velocity and angular acceleration in the position of the top pyramid is simulated.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2019.07.006Spherical parallel robotQuaternion algebraPositive closed equationInfluence coefficient |
| spellingShingle | lin Zhang Xuxia Guo Gemeng Shi Lansheng Jia li Wang Positive Kinematics Analysis of 3-RRR Spherical Parallel Robot Jixie chuandong Spherical parallel robot Quaternion algebra Positive closed equation Influence coefficient |
| title | Positive Kinematics Analysis of 3-RRR Spherical Parallel Robot |
| title_full | Positive Kinematics Analysis of 3-RRR Spherical Parallel Robot |
| title_fullStr | Positive Kinematics Analysis of 3-RRR Spherical Parallel Robot |
| title_full_unstemmed | Positive Kinematics Analysis of 3-RRR Spherical Parallel Robot |
| title_short | Positive Kinematics Analysis of 3-RRR Spherical Parallel Robot |
| title_sort | positive kinematics analysis of 3 rrr spherical parallel robot |
| topic | Spherical parallel robot Quaternion algebra Positive closed equation Influence coefficient |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2019.07.006 |
| work_keys_str_mv | AT linzhang positivekinematicsanalysisof3rrrsphericalparallelrobot AT xuxiaguo positivekinematicsanalysisof3rrrsphericalparallelrobot AT gemengshi positivekinematicsanalysisof3rrrsphericalparallelrobot AT lanshengjia positivekinematicsanalysisof3rrrsphericalparallelrobot AT liwang positivekinematicsanalysisof3rrrsphericalparallelrobot |