ANALYSIS THE WORKING SPACE AND KINEMATICS OF THE MICRO 3-PSP PARALLEL MECHANISM
To satisfied the requirement of the laser angle adjustment,this paper proposed a micro 3-PSP parallel robot with a special structure with the diameter of the static platform is 50 mm,the height of the system is about 74 mm-80 mm;Using the‘closed-loop vector method’to set up the inverse kinematics mo...
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| Format: | Article |
| Language: | zho |
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Editorial Office of Journal of Mechanical Strength
2018-01-01
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| Series: | Jixie qiangdu |
| Online Access: | http://www.jxqd.net.cn/thesisDetails#10.16579/j.issn.1001.9669.2018.04.025 |
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| _version_ | 1841535570291982336 |
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| author | XIE ZheDong JIA YuXuan SHAO Qi GAN XinJi |
| author_facet | XIE ZheDong JIA YuXuan SHAO Qi GAN XinJi |
| author_sort | XIE ZheDong |
| collection | DOAJ |
| description | To satisfied the requirement of the laser angle adjustment,this paper proposed a micro 3-PSP parallel robot with a special structure with the diameter of the static platform is 50 mm,the height of the system is about 74 mm-80 mm;Using the‘closed-loop vector method’to set up the inverse kinematics model of the parallel robot.Then get the solution of the inverse kinematics.On the basis of the inverse kinematics solution,the constraint of the shaft movement and the parameters of the mechanism,we get the 3 D working space of the parallel robot via MATLAB.Finally,we simulated the kinematics of the parallel robot by Solid Works and Adams,and the results show that the 3-PSP parallel robot could accomplish three dimensions moving with smooth. |
| format | Article |
| id | doaj-art-b7aa44e4b65543c6afe47ea390ea5f78 |
| institution | Kabale University |
| issn | 1001-9669 |
| language | zho |
| publishDate | 2018-01-01 |
| publisher | Editorial Office of Journal of Mechanical Strength |
| record_format | Article |
| series | Jixie qiangdu |
| spelling | doaj-art-b7aa44e4b65543c6afe47ea390ea5f782025-01-15T02:31:51ZzhoEditorial Office of Journal of Mechanical StrengthJixie qiangdu1001-96692018-01-014091592230602511ANALYSIS THE WORKING SPACE AND KINEMATICS OF THE MICRO 3-PSP PARALLEL MECHANISMXIE ZheDongJIA YuXuanSHAO QiGAN XinJiTo satisfied the requirement of the laser angle adjustment,this paper proposed a micro 3-PSP parallel robot with a special structure with the diameter of the static platform is 50 mm,the height of the system is about 74 mm-80 mm;Using the‘closed-loop vector method’to set up the inverse kinematics model of the parallel robot.Then get the solution of the inverse kinematics.On the basis of the inverse kinematics solution,the constraint of the shaft movement and the parameters of the mechanism,we get the 3 D working space of the parallel robot via MATLAB.Finally,we simulated the kinematics of the parallel robot by Solid Works and Adams,and the results show that the 3-PSP parallel robot could accomplish three dimensions moving with smooth.http://www.jxqd.net.cn/thesisDetails#10.16579/j.issn.1001.9669.2018.04.025 |
| spellingShingle | XIE ZheDong JIA YuXuan SHAO Qi GAN XinJi ANALYSIS THE WORKING SPACE AND KINEMATICS OF THE MICRO 3-PSP PARALLEL MECHANISM Jixie qiangdu |
| title | ANALYSIS THE WORKING SPACE AND KINEMATICS OF THE MICRO 3-PSP PARALLEL MECHANISM |
| title_full | ANALYSIS THE WORKING SPACE AND KINEMATICS OF THE MICRO 3-PSP PARALLEL MECHANISM |
| title_fullStr | ANALYSIS THE WORKING SPACE AND KINEMATICS OF THE MICRO 3-PSP PARALLEL MECHANISM |
| title_full_unstemmed | ANALYSIS THE WORKING SPACE AND KINEMATICS OF THE MICRO 3-PSP PARALLEL MECHANISM |
| title_short | ANALYSIS THE WORKING SPACE AND KINEMATICS OF THE MICRO 3-PSP PARALLEL MECHANISM |
| title_sort | analysis the working space and kinematics of the micro 3 psp parallel mechanism |
| url | http://www.jxqd.net.cn/thesisDetails#10.16579/j.issn.1001.9669.2018.04.025 |
| work_keys_str_mv | AT xiezhedong analysistheworkingspaceandkinematicsofthemicro3pspparallelmechanism AT jiayuxuan analysistheworkingspaceandkinematicsofthemicro3pspparallelmechanism AT shaoqi analysistheworkingspaceandkinematicsofthemicro3pspparallelmechanism AT ganxinji analysistheworkingspaceandkinematicsofthemicro3pspparallelmechanism |