Motion-solving for Spatial 3-RPS Parallel Mechanism based on Co-simulating
On the basis of the analysis of spatial 3-RPS parallel mechanism,the method instruction of the mechanism motion solving and inverse kinematics equation are obtained. For the parallel mechanism,the forward kinematic solution is complex,the kinematic solution of spatial 3-RPS parallel mechanism is ach...
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| Format: | Article |
| Language: | zho |
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Editorial Office of Journal of Mechanical Transmission
2018-01-01
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| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2018.06.004 |
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| author | Dan Bochou Li Qi Hou Xiaoli |
| author_facet | Dan Bochou Li Qi Hou Xiaoli |
| author_sort | Dan Bochou |
| collection | DOAJ |
| description | On the basis of the analysis of spatial 3-RPS parallel mechanism,the method instruction of the mechanism motion solving and inverse kinematics equation are obtained. For the parallel mechanism,the forward kinematic solution is complex,the kinematic solution of spatial 3-RPS parallel mechanism is achieved by the combining of Pro/E software,MATLAB software and ADAMS software. The 3 D model is established in Pro/E software,and put into ADAMS software to edit and define. Through giving the kinematic position,the rotation angle curves of the rotation joint and the output of the attitude angles are achieved by the MATLAB software. The curves can be used as driving function to the three forearms after editing and conversion with the ADAMS function,then,forward kinematic solution is achieved. The results are identical with the inverse solution,that proved the reliably and correctly of the method. The method can be used in the virtual prototyping technology,because of simple solution process and intuitive kinematic performance. |
| format | Article |
| id | doaj-art-898923eab8594e0b9dad6e0b9571c8c4 |
| institution | Kabale University |
| issn | 1004-2539 |
| language | zho |
| publishDate | 2018-01-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj-art-898923eab8594e0b9dad6e0b9571c8c42025-01-10T14:41:44ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392018-01-0142172129936889Motion-solving for Spatial 3-RPS Parallel Mechanism based on Co-simulatingDan BochouLi QiHou XiaoliOn the basis of the analysis of spatial 3-RPS parallel mechanism,the method instruction of the mechanism motion solving and inverse kinematics equation are obtained. For the parallel mechanism,the forward kinematic solution is complex,the kinematic solution of spatial 3-RPS parallel mechanism is achieved by the combining of Pro/E software,MATLAB software and ADAMS software. The 3 D model is established in Pro/E software,and put into ADAMS software to edit and define. Through giving the kinematic position,the rotation angle curves of the rotation joint and the output of the attitude angles are achieved by the MATLAB software. The curves can be used as driving function to the three forearms after editing and conversion with the ADAMS function,then,forward kinematic solution is achieved. The results are identical with the inverse solution,that proved the reliably and correctly of the method. The method can be used in the virtual prototyping technology,because of simple solution process and intuitive kinematic performance.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2018.06.004Spatial 3-RPS parallel mechanismCo-simulation solutionMotion solution |
| spellingShingle | Dan Bochou Li Qi Hou Xiaoli Motion-solving for Spatial 3-RPS Parallel Mechanism based on Co-simulating Jixie chuandong Spatial 3-RPS parallel mechanism Co-simulation solution Motion solution |
| title | Motion-solving for Spatial 3-RPS Parallel Mechanism based on Co-simulating |
| title_full | Motion-solving for Spatial 3-RPS Parallel Mechanism based on Co-simulating |
| title_fullStr | Motion-solving for Spatial 3-RPS Parallel Mechanism based on Co-simulating |
| title_full_unstemmed | Motion-solving for Spatial 3-RPS Parallel Mechanism based on Co-simulating |
| title_short | Motion-solving for Spatial 3-RPS Parallel Mechanism based on Co-simulating |
| title_sort | motion solving for spatial 3 rps parallel mechanism based on co simulating |
| topic | Spatial 3-RPS parallel mechanism Co-simulation solution Motion solution |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2018.06.004 |
| work_keys_str_mv | AT danbochou motionsolvingforspatial3rpsparallelmechanismbasedoncosimulating AT liqi motionsolvingforspatial3rpsparallelmechanismbasedoncosimulating AT houxiaoli motionsolvingforspatial3rpsparallelmechanismbasedoncosimulating |