Analyses of velocity, acceleration, statics, and workspace of a 2(3-SPR) serial-parallel manipulator

被引：26
|
作者：
Lu, Yi [1 ]
Hu, Bo [1 ]
Sun, Tao [1 ]
机构：
[1] Yanshan Univ, Sch Mech Engn, Robot Res Ctr, Qinhuangdao 066004, Hebei, Peoples R China
来源：
ROBOTICA | 2009年 / 27卷
关键词：
Parallel manipulators; Serial-parallel manipulator; Kinematics; Statics; Workspace; KINEMATIC ANALYSIS; HYBRID;
D O I：
10.1017/S0263574708004918
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
The kinematics, statics, and workspace of a 2(3-SPR) serial-parallel manipulator (S-PM) are studied systematically in this paper. First, a 2(3-SPR) S-PM including an upper 3-SPR parallel manipulator (PM) and a lower 3-SPR PM is constructed, and the inverse/forward displacements, velocity, acceleration, and statics of the lower and upper 3-SPR PMs are studied, respectively. Second, the kinematics and statics of the lower and upper 3-SPR PMs are combined and the displacement, velocity, acceleration, and statics of a 2(3-SPR) S-PM are analyzed systematically. Third, a workspace of the 2(3-SPR) S-PM is constructed and analyzed. Finally, the analytic solved results are given and verified by the Simulation mechanism.
引用
收藏
页码：529 / 538
页数：10
相关论文
共 42 条
  • [1] Analyses of the stiffness and elastic deformation of a 2(3-SPR) serial-parallel manipulator
    Lu, Y.
    Hu, B.
    Yu, J.
    PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART K-JOURNAL OF MULTI-BODY DYNAMICS, 2009, 223 (03) : 189 - 198
  • [2] Analyses of inverse kinematics, statics and workspace of a novel 3RPS-3SPR serial-parallel manipulator
    Hu, Bo
    Lu, Yi
    Yu, Jing Jing
    Zhuang, Shan
    Open Mechanical Engineering Journal, 2012, 6 (SUPPL.1): : 65 - 72
  • [3] Analysis of kinematics/statics and workspace of a 2(SP+SPR+SPU) serial-parallel manipulator
    Lu, Yi
    Hu, Bo
    Yu, JianPing
    MULTIBODY SYSTEM DYNAMICS, 2009, 21 (04) : 361 - 374
  • [4] Solving driving forces of 2(3-SPR) serial-parallel manipulator by CAD variation geometry approach
    Lu, Yi
    Hu, Bo
    JOURNAL OF MECHANICAL DESIGN, 2006, 128 (06) : 1349 - 1351
  • [5] Analysis of kinematics/statics and workspace of a 2(SP+SPR+SPU) serial–parallel manipulator
    Yi Lu
    Bo Hu
    JianPing Yu
    Multibody System Dynamics, 2009, 21
  • [6] Position and workspace analyses of 3-SPR and 3-RPS parallel manipulators
    Lu, Yi
    Zhao, Yonghe
    PROCEEDINGS OF THE ASME INTERNATIONAL DESIGN ENGINEERING TECHNICAL CONFERENCES AND COMPUTERS AND INFORMATION IN ENGINEERING CONFERENCE, VOL 7, PTS A AND B, 2005, : 957 - 962
  • [7] Kinematics Performance Evaluation of a 3-SPR Parallel Manipulator
    Wang M.
    Liu H.
    Huang T.
    Liu, Haitao (liuht@tju.edu.cn), 1600, Chinese Mechanical Engineering Society (53): : 108 - 115
  • [8] Terminal constraint and mobility analysis of serial-parallel manipulators formed by 3-RPS and 3-SPR PMs
    Hu, Bo
    Zhao, Jinjun
    Cui, He
    MECHANISM AND MACHINE THEORY, 2019, 134 : 685 - 703
  • [9] A Transformation Method to Generate the Workspace of an n(3RRS) Serial-Parallel Manipulator
    Guo, Hongwei
    Zhao, Chong
    Li, Bing
    Liu, Rongqiang
    Deng, Zongquan
    Tian, Jin
    JOURNAL OF MECHANICAL DESIGN, 2019, 141 (09)
  • [10] Force transmission and constraint analysis of a 3-SPR parallel manipulator
    Russo, Matteo
    Ceccarelli, Marco
    Takeda, Yukio
    PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART C-JOURNAL OF MECHANICAL ENGINEERING SCIENCE, 2018, 232 (23) : 4399 - 4409
12345