Solving active wrench of limited-degree of freedom parallel manipulators based on translational/rotational Jacobian matrices

被引：3
|
作者：
Lu, Y. [1 ]
Hu, B. [1 ]
Yu, J. [2 ]
机构：
[1] Yanshan Univ, Coll Mech Engn, Robot Res Ctr, Qinhuangdao 066004, Hebei, Peoples R China
[2] Yanshan Univ, Coll Foreign Studies, Qinhuangdao 066004, Hebei, Peoples R China
来源：
PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART K-JOURNAL OF MULTI-BODY DYNAMICS | 2009年 / 223卷 / 03期
关键词：
parallel manipulator; kinematics; forward force wrench; inverse active force wrench; INVERSE DYNAMICS; FORMULATION; DESIGN; FORCE;
D O I：
10.1243/14644193JMBD181
中图分类号：
TH [机械、仪表工业];
学科分类号：
0802 ;
摘要：
A methodology is proposed for unified solving active wrench of the limited-degree of freedom (DOF) parallel manipulators (PMs). First, the geometric constraints and the inverse displacement kinematics are analysed. Second, the formulae for unified solving the inverse/forward velocity and the translational/rotational Jacobian matrices and inverse/forward Jacobian matrices are derived. Third, the analytic formulae for unified solving the active wrench of limited-DOF PMs are derived based on the principle of virtual work. Finally, a 3-DOF PM with linear/rotational active legs is presented to illustrate the use of the methodology.
引用
收藏
页码：221 / 229
页数：9
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