Kinematics of an asymmetrical three-legged parallel manipulator by means of the screw theory

被引：27
|
作者：
Gallardo-Alvarado, Jaime [1 ]
Ramirez-Agundis, Agustin [1 ]
Rojas-Garduno, Hector [1 ]
Arroyo-Ramirez, Benjamin [1 ]
机构：
[1] Inst Tecnol Celaya, Dept Mech & Elect Engn, Celaya 38010, Gto, Mexico
来源：
MECHANISM AND MACHINE THEORY | 2010年 / 45卷 / 07期
关键词：
Parallel manipulator; Decoupled motion; Screw theory; Kinematics; STEWART PLATFORM; POSITION ANALYSIS; MECHANISMS; GEOMETRY; ALGEBRA; SENSORS; SYSTEMS;
D O I：
10.1016/j.mechmachtheory.2010.02.003
中图分类号：
TH [机械、仪表工业];
学科分类号：
0802 ;
摘要：
In this work the kinematics of a three-legged parallel manipulator with asymmetrical limbs and decoupled motions over its moving platform is investigated by means of the theory of screws. The solution of the forward displacement analysis (FDA) is presented in echelon-form solution using a novel procedure based on simple geometric constraints, thus all the feasible locations of the moving platform, with respect to the fixed platform, are computed given a set of generalized coordinates. After, the velocity and acceleration analyses are carried out using the theory of screws. Finally, a numerical example is included and the results obtained via the screw theory are verified with the aid of special commercially available software like MSC. Adams c. (C) 2010 Elsevier Ltd. All rights reserved.
引用
收藏
页码：1013 / 1023
页数：11
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