SOLVING INVERSE KINEMATICS AND DRIVING FORCES OF A NOVEL 3RPS-3SPR SERIAL- PARALLEL MANIPULATOR

被引：0
|
作者：
Hu, Bo [1 ]
Lu, Yi [1 ]
Xu, Jia Yin [1 ]
Yu, Jing Jing
机构：
[1] Yanshan Univ, Coll Mech Eng, Qinhuangdao, Hebei, Peoples R China
来源：
PROCEEDINGS OF THE ASME INTERNATIONAL DESIGN ENGINEERING TECHNICAL CONFERENCES AND COMPUTERS AND INFORMATION IN ENGINEERING CONFERENCE, VOL 7, PTS A AND B | 2010年
关键词：
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
The inverse kinematics and the driving forces of a 3RPS-3SPR serial-parallel manipulator (PM) with 6 degree of freedoms (DOFs) are solved in this paper. This 3RPS-3SPR serial-PM includes a lower 3-RPS PM and an upper 3-SPR PM. First, the inverse displacement is solved based on the geometrical constraint and the dimension constraint of this PM. Second, the 9x9 and 6x6 form inverse Jacobian matrices are derived and the driving forces are solved by using principle of virtual work. Finally, the numerical example is given.
引用
收藏
页码：955 / 960
页数：6
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