Study on the Workspace and Kinematics of 3-UPU Parallel Mechanism
According to the structural characteristic of 3- UPU parallel mechanism,by using a new numerical algorithm,the kinematics inverse solution of the mechanism is obtained. Through the compound derivation for the mechanism kinematics inverse solution,the Jacobi matrix of the mechanism kinematics is fast...
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| Format: | Article |
| Language: | zho |
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Editorial Office of Journal of Mechanical Transmission
2016-01-01
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| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2016.01.003 |
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| _version_ | 1841547748150607872 |
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| author | Pu Zhixin Li Xiaochun You Xuping Yu Yinghua |
| author_facet | Pu Zhixin Li Xiaochun You Xuping Yu Yinghua |
| author_sort | Pu Zhixin |
| collection | DOAJ |
| description | According to the structural characteristic of 3- UPU parallel mechanism,by using a new numerical algorithm,the kinematics inverse solution of the mechanism is obtained. Through the compound derivation for the mechanism kinematics inverse solution,the Jacobi matrix of the mechanism kinematics is fast obtained. And the singularity analysis of mechanism is carried out,the three cases of singular configuration are obtained. At last,by using the limit search method combined with MATLAB software,the workspace of mechanism is obtained. A theoretical foundation for the study on the parallel mechanism parameters optimization is provided. |
| format | Article |
| id | doaj-art-73830db9fbd341c482457c59399e199b |
| institution | Kabale University |
| issn | 1004-2539 |
| language | zho |
| publishDate | 2016-01-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj-art-73830db9fbd341c482457c59399e199b2025-01-10T14:19:30ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392016-01-0140121329921791Study on the Workspace and Kinematics of 3-UPU Parallel MechanismPu ZhixinLi XiaochunYou XupingYu YinghuaAccording to the structural characteristic of 3- UPU parallel mechanism,by using a new numerical algorithm,the kinematics inverse solution of the mechanism is obtained. Through the compound derivation for the mechanism kinematics inverse solution,the Jacobi matrix of the mechanism kinematics is fast obtained. And the singularity analysis of mechanism is carried out,the three cases of singular configuration are obtained. At last,by using the limit search method combined with MATLAB software,the workspace of mechanism is obtained. A theoretical foundation for the study on the parallel mechanism parameters optimization is provided.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2016.01.003Parallel mechanismInverse solutionSingularityWorkspace |
| spellingShingle | Pu Zhixin Li Xiaochun You Xuping Yu Yinghua Study on the Workspace and Kinematics of 3-UPU Parallel Mechanism Jixie chuandong Parallel mechanism Inverse solution Singularity Workspace |
| title | Study on the Workspace and Kinematics of 3-UPU Parallel Mechanism |
| title_full | Study on the Workspace and Kinematics of 3-UPU Parallel Mechanism |
| title_fullStr | Study on the Workspace and Kinematics of 3-UPU Parallel Mechanism |
| title_full_unstemmed | Study on the Workspace and Kinematics of 3-UPU Parallel Mechanism |
| title_short | Study on the Workspace and Kinematics of 3-UPU Parallel Mechanism |
| title_sort | study on the workspace and kinematics of 3 upu parallel mechanism |
| topic | Parallel mechanism Inverse solution Singularity Workspace |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2016.01.003 |
| work_keys_str_mv | AT puzhixin studyontheworkspaceandkinematicsof3upuparallelmechanism AT lixiaochun studyontheworkspaceandkinematicsof3upuparallelmechanism AT youxuping studyontheworkspaceandkinematicsof3upuparallelmechanism AT yuyinghua studyontheworkspaceandkinematicsof3upuparallelmechanism |