Solution and simulation of position-orientation for multi-spatial 3-RPS parallel mechanisms in series connection

被引：34
|
作者：
Lu, Y [1 ]
Leinonen, T
机构：
[1] Yanshan Univ, Coll Mech Eng, Qinhuangdao, Hebei, Peoples R China
[2] Univ Oulu, Dept Mech Eng, Oulu 90014, Finland
来源：
MULTIBODY SYSTEM DYNAMICS | 2005年 / 14卷 / 01期
关键词：
parallel mechanism; series mechanism; solution; simulation; position-orientation;
D O I：
10.1007/s11044-005-1355-z
中图分类号：
O3 [力学];
学科分类号：
08 ; 0801 ;
摘要：
A novel spatial manipulator formed by multi-spatial 3-RPS parallel mechanisms in series connection is presented in this paper after synthesizing each advantage of both spatial series mechanism and parallel mechanisms. First, a solution of position-orientation for a spatial mechanism formed by two spatial 3-RPS parallel mechanisms in series connection is derived, a motion relationship between the driving rods and the end platform (output link) is determined. A simulation mechanism of this novel spatial manipulator is constituted in the Solidwork environment, and some computer simulation of the novel spatial manipulator are conducted and analyzed. Based on these results, a general solution of position-orientation of a spatial manipulator formed by multi-spatial 3-RPS parallel mechanism in series connection is derived. These outcomes provide a theoretical foundation for designing robot mechanisms.
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收藏
页码：47 / 60
页数：14
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