Singularity and Statics Analysis of Redundant Parallel Mechanism
The singularity and statics performance of a 6-DOF mobile redundant parallel mechanism and its real-time optimization design are studied. The statics Jacobian matrix of this parallel mechanism is established,and the singularity and statics performance are analyzed. The statics transfer performance o...
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| Format: | Article |
| Language: | zho |
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Editorial Office of Journal of Mechanical Transmission
2019-01-01
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| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2019.01.010 |
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| author | Tang Ke Wan Xiaojin Lu Kai |
| author_facet | Tang Ke Wan Xiaojin Lu Kai |
| author_sort | Tang Ke |
| collection | DOAJ |
| description | The singularity and statics performance of a 6-DOF mobile redundant parallel mechanism and its real-time optimization design are studied. The statics Jacobian matrix of this parallel mechanism is established,and the singularity and statics performance are analyzed. The statics transfer performance of parallel mechanism is improved by adjusting the leg position of the parallel mechanism. The performance spectrum based on the Jacobian matrix is drawn,the transfer performance of the statics force and moment of the parallel mechanism in different positions is observed intuitively. By above analysis shows that the redundant parallel mechanism can eliminate the singularity,while adjusting the leg position also greatly improves the static transfer performance of parallel mechanism. |
| format | Article |
| id | doaj-art-c6cdcd40edb64e97845cc939f96f8533 |
| institution | Kabale University |
| issn | 1004-2539 |
| language | zho |
| publishDate | 2019-01-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj-art-c6cdcd40edb64e97845cc939f96f85332025-01-10T14:02:23ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392019-01-0143444929940154Singularity and Statics Analysis of Redundant Parallel MechanismTang KeWan XiaojinLu KaiThe singularity and statics performance of a 6-DOF mobile redundant parallel mechanism and its real-time optimization design are studied. The statics Jacobian matrix of this parallel mechanism is established,and the singularity and statics performance are analyzed. The statics transfer performance of parallel mechanism is improved by adjusting the leg position of the parallel mechanism. The performance spectrum based on the Jacobian matrix is drawn,the transfer performance of the statics force and moment of the parallel mechanism in different positions is observed intuitively. By above analysis shows that the redundant parallel mechanism can eliminate the singularity,while adjusting the leg position also greatly improves the static transfer performance of parallel mechanism.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2019.01.010Redundant parallel mechanismJacobian matrixSingularityStatics performance |
| spellingShingle | Tang Ke Wan Xiaojin Lu Kai Singularity and Statics Analysis of Redundant Parallel Mechanism Jixie chuandong Redundant parallel mechanism Jacobian matrix Singularity Statics performance |
| title | Singularity and Statics Analysis of Redundant Parallel Mechanism |
| title_full | Singularity and Statics Analysis of Redundant Parallel Mechanism |
| title_fullStr | Singularity and Statics Analysis of Redundant Parallel Mechanism |
| title_full_unstemmed | Singularity and Statics Analysis of Redundant Parallel Mechanism |
| title_short | Singularity and Statics Analysis of Redundant Parallel Mechanism |
| title_sort | singularity and statics analysis of redundant parallel mechanism |
| topic | Redundant parallel mechanism Jacobian matrix Singularity Statics performance |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2019.01.010 |
| work_keys_str_mv | AT tangke singularityandstaticsanalysisofredundantparallelmechanism AT wanxiaojin singularityandstaticsanalysisofredundantparallelmechanism AT lukai singularityandstaticsanalysisofredundantparallelmechanism |