KINEMATIC ANALYSIS OF SPATIAL 3-RPS PARALLEL MECHANISM
the coupling relationship between the position of the moving platform and the attitude parameters is derived from the joint constraints of the spatial 3-RPS parallel mechanism, and the independent parameters used to describe the configuration of a mechanism is given. The geometric constraint of the...
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| Format: | Article |
| Language: | zho |
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Editorial Office of Journal of Mechanical Strength
2019-01-01
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| Series: | Jixie qiangdu |
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| Online Access: | http://www.jxqd.net.cn/thesisDetails#10.16579/j.issn.1001.9669.2019.02.022 |
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| author | GAO HongWei |
| author_facet | GAO HongWei |
| author_sort | GAO HongWei |
| collection | DOAJ |
| description | the coupling relationship between the position of the moving platform and the attitude parameters is derived from the joint constraints of the spatial 3-RPS parallel mechanism, and the independent parameters used to describe the configuration of a mechanism is given. The geometric constraint of the mechanism is established by using the equal motion condition, and the inverse equation of the mechanism position is obtained. The relation between the velocity and acceleration between the components is established by using the first and two order derivatives of the constraint equations, thus avoiding the occurrence of composite joint variables in the equations of motion. The explicit relationship between velocity and acceleration among components is obtained. It proves that this method has the advantages of high computational efficiency and is helpful for the rapid solution and dynamic simulation of mechanism problems. |
| format | Article |
| id | doaj-art-745db13289094ab58938a586e0acdce3 |
| institution | Kabale University |
| issn | 1001-9669 |
| language | zho |
| publishDate | 2019-01-01 |
| publisher | Editorial Office of Journal of Mechanical Strength |
| record_format | Article |
| series | Jixie qiangdu |
| spelling | doaj-art-745db13289094ab58938a586e0acdce32025-01-15T02:30:14ZzhoEditorial Office of Journal of Mechanical StrengthJixie qiangdu1001-96692019-01-014139339930604297KINEMATIC ANALYSIS OF SPATIAL 3-RPS PARALLEL MECHANISMGAO HongWeithe coupling relationship between the position of the moving platform and the attitude parameters is derived from the joint constraints of the spatial 3-RPS parallel mechanism, and the independent parameters used to describe the configuration of a mechanism is given. The geometric constraint of the mechanism is established by using the equal motion condition, and the inverse equation of the mechanism position is obtained. The relation between the velocity and acceleration between the components is established by using the first and two order derivatives of the constraint equations, thus avoiding the occurrence of composite joint variables in the equations of motion. The explicit relationship between velocity and acceleration among components is obtained. It proves that this method has the advantages of high computational efficiency and is helpful for the rapid solution and dynamic simulation of mechanism problems.http://www.jxqd.net.cn/thesisDetails#10.16579/j.issn.1001.9669.2019.02.022Parallel mechanismPosition inverse solutionVelocityAcceleration |
| spellingShingle | GAO HongWei KINEMATIC ANALYSIS OF SPATIAL 3-RPS PARALLEL MECHANISM Jixie qiangdu Parallel mechanism Position inverse solution Velocity Acceleration |
| title | KINEMATIC ANALYSIS OF SPATIAL 3-RPS PARALLEL MECHANISM |
| title_full | KINEMATIC ANALYSIS OF SPATIAL 3-RPS PARALLEL MECHANISM |
| title_fullStr | KINEMATIC ANALYSIS OF SPATIAL 3-RPS PARALLEL MECHANISM |
| title_full_unstemmed | KINEMATIC ANALYSIS OF SPATIAL 3-RPS PARALLEL MECHANISM |
| title_short | KINEMATIC ANALYSIS OF SPATIAL 3-RPS PARALLEL MECHANISM |
| title_sort | kinematic analysis of spatial 3 rps parallel mechanism |
| topic | Parallel mechanism Position inverse solution Velocity Acceleration |
| url | http://www.jxqd.net.cn/thesisDetails#10.16579/j.issn.1001.9669.2019.02.022 |
| work_keys_str_mv | AT gaohongwei kinematicanalysisofspatial3rpsparallelmechanism |