Analysis of the Torque Transmission Performance of Double 3-RRS Over-redundant Actuation Flight Simulator
The torque transmission performance of flight simulator with double 3-RRS over-redundant actuation spherical parallel manipulator is analyzed. The flight simulator has 3 rotational degrees of freedom,6 actuators,3 redundant actuators are included in 6 actuators. Two totally same spherical parallel m...
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| Format: | Article |
| Language: | zho |
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Editorial Office of Journal of Mechanical Transmission
2016-01-01
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| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2016.09.025 |
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| _version_ | 1841548013765394432 |
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| author | Zhou Changchun Wang Qi |
| author_facet | Zhou Changchun Wang Qi |
| author_sort | Zhou Changchun |
| collection | DOAJ |
| description | The torque transmission performance of flight simulator with double 3-RRS over-redundant actuation spherical parallel manipulator is analyzed. The flight simulator has 3 rotational degrees of freedom,6 actuators,3 redundant actuators are included in 6 actuators. Two totally same spherical parallel manipulators consist of the flight simulator. Because of only one fixed coordinate frame is established,it has one fixed base in general and one moving platform. The whole moving platform is served as the flight simulator capsule. The directional cosines of the branch are determined by anti-symmetric coordinates frame,and on this basis,the Jacobian matrix of the over-redundant actuation spherical parallel manipulator is given. The torque transmission performance index of the double and single 3-RRS over-redundant actuation spherical parallel manipulator are analyzed and its atlas of torque transmission performance are given out,and according to the 3D atlas,the analysis conclusion is given. |
| format | Article |
| id | doaj-art-de55c92764094a63a0767d4d4808494c |
| institution | Kabale University |
| issn | 1004-2539 |
| language | zho |
| publishDate | 2016-01-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj-art-de55c92764094a63a0767d4d4808494c2025-01-10T14:15:49ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392016-01-014011812129926114Analysis of the Torque Transmission Performance of Double 3-RRS Over-redundant Actuation Flight SimulatorZhou ChangchunWang QiThe torque transmission performance of flight simulator with double 3-RRS over-redundant actuation spherical parallel manipulator is analyzed. The flight simulator has 3 rotational degrees of freedom,6 actuators,3 redundant actuators are included in 6 actuators. Two totally same spherical parallel manipulators consist of the flight simulator. Because of only one fixed coordinate frame is established,it has one fixed base in general and one moving platform. The whole moving platform is served as the flight simulator capsule. The directional cosines of the branch are determined by anti-symmetric coordinates frame,and on this basis,the Jacobian matrix of the over-redundant actuation spherical parallel manipulator is given. The torque transmission performance index of the double and single 3-RRS over-redundant actuation spherical parallel manipulator are analyzed and its atlas of torque transmission performance are given out,and according to the 3D atlas,the analysis conclusion is given.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2016.09.025Spherical parallel manipulatorFlight simulatorJacobian matrixTorque transmission performance |
| spellingShingle | Zhou Changchun Wang Qi Analysis of the Torque Transmission Performance of Double 3-RRS Over-redundant Actuation Flight Simulator Jixie chuandong Spherical parallel manipulator Flight simulator Jacobian matrix Torque transmission performance |
| title | Analysis of the Torque Transmission Performance of Double 3-RRS Over-redundant Actuation Flight Simulator |
| title_full | Analysis of the Torque Transmission Performance of Double 3-RRS Over-redundant Actuation Flight Simulator |
| title_fullStr | Analysis of the Torque Transmission Performance of Double 3-RRS Over-redundant Actuation Flight Simulator |
| title_full_unstemmed | Analysis of the Torque Transmission Performance of Double 3-RRS Over-redundant Actuation Flight Simulator |
| title_short | Analysis of the Torque Transmission Performance of Double 3-RRS Over-redundant Actuation Flight Simulator |
| title_sort | analysis of the torque transmission performance of double 3 rrs over redundant actuation flight simulator |
| topic | Spherical parallel manipulator Flight simulator Jacobian matrix Torque transmission performance |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2016.09.025 |
| work_keys_str_mv | AT zhouchangchun analysisofthetorquetransmissionperformanceofdouble3rrsoverredundantactuationflightsimulator AT wangqi analysisofthetorquetransmissionperformanceofdouble3rrsoverredundantactuationflightsimulator |