Analysis of Inverse Positional and Workspace of a Novel 2-RPU/UPU Parallel Mechanism
According to the structure and layout of less DOF 2-RPU/UPU parallel mechanism,it is overconstraint. The 3-dimensional model of the mechanism is established in Pro/E. By using the screw theory,the DOF analysis of freedom of this mechanism is carried out. The inverse position solution is obtained by...
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| Main Authors: | , , , , |
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| Format: | Article |
| Language: | zho |
| Published: |
Editorial Office of Journal of Mechanical Transmission
2017-01-01
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| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2017.06.021 |
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| Summary: | According to the structure and layout of less DOF 2-RPU/UPU parallel mechanism,it is overconstraint. The 3-dimensional model of the mechanism is established in Pro/E. By using the screw theory,the DOF analysis of freedom of this mechanism is carried out. The inverse position solution is obtained by mechanism space coordinate transformation. Finally,the workspace of this parallel mechanism is solved by using Simmechanics toolbox in MATLAB. |
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| ISSN: | 1004-2539 |