Study on the Position Solution and Workspace of 3-RRS Spherical Parallel Mechanism
The motion analysis of 3- RRS spherical parallel mechanism is carried out by using the screw theory. The forward kinematics of 3- RRS spherical parallel mechanism is solved by using Newton iterative method. The inverse kinematics model of 3- RRS spherical parallel mechanism is established by using c...
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| Format: | Article |
| Language: | zho |
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Editorial Office of Journal of Mechanical Transmission
2016-01-01
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| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2016.10.004 |
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| _version_ | 1841547967262097408 |
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| author | Li Dahai Li Ruiqin Song Shengtao Zhang Mengmeng Zhao Jianwen |
| author_facet | Li Dahai Li Ruiqin Song Shengtao Zhang Mengmeng Zhao Jianwen |
| author_sort | Li Dahai |
| collection | DOAJ |
| description | The motion analysis of 3- RRS spherical parallel mechanism is carried out by using the screw theory. The forward kinematics of 3- RRS spherical parallel mechanism is solved by using Newton iterative method. The inverse kinematics model of 3- RRS spherical parallel mechanism is established by using closed loop vector method. The corresponding inverse position solution formula is derived. Eight sets of inverse solutions are obtained. Through the example analysis,the validity of the position solutions of 3- RRS spherical parallel mechanism is verified. The reachable workspaces of 3- RRS spherical parallel mechanism are solved with the help of numerical search method. The reachable workspace diagrams with different structure parameters are drawn by using Matlab software. The variation law of the workapaces is analyzed. The results lay the foundation for the application of 3- RRS spherical parallel mechanism. |
| format | Article |
| id | doaj-art-5330aba935e04aef91ae7a225e23a604 |
| institution | Kabale University |
| issn | 1004-2539 |
| language | zho |
| publishDate | 2016-01-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj-art-5330aba935e04aef91ae7a225e23a6042025-01-10T14:15:12ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392016-01-0140172229926344Study on the Position Solution and Workspace of 3-RRS Spherical Parallel MechanismLi DahaiLi RuiqinSong ShengtaoZhang MengmengZhao JianwenThe motion analysis of 3- RRS spherical parallel mechanism is carried out by using the screw theory. The forward kinematics of 3- RRS spherical parallel mechanism is solved by using Newton iterative method. The inverse kinematics model of 3- RRS spherical parallel mechanism is established by using closed loop vector method. The corresponding inverse position solution formula is derived. Eight sets of inverse solutions are obtained. Through the example analysis,the validity of the position solutions of 3- RRS spherical parallel mechanism is verified. The reachable workspaces of 3- RRS spherical parallel mechanism are solved with the help of numerical search method. The reachable workspace diagrams with different structure parameters are drawn by using Matlab software. The variation law of the workapaces is analyzed. The results lay the foundation for the application of 3- RRS spherical parallel mechanism.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2016.10.0043-RRS spherical parallel mechanismScrew theoryForward position solutionInverse position solutionWorkspace |
| spellingShingle | Li Dahai Li Ruiqin Song Shengtao Zhang Mengmeng Zhao Jianwen Study on the Position Solution and Workspace of 3-RRS Spherical Parallel Mechanism Jixie chuandong 3-RRS spherical parallel mechanism Screw theory Forward position solution Inverse position solution Workspace |
| title | Study on the Position Solution and Workspace of 3-RRS Spherical Parallel Mechanism |
| title_full | Study on the Position Solution and Workspace of 3-RRS Spherical Parallel Mechanism |
| title_fullStr | Study on the Position Solution and Workspace of 3-RRS Spherical Parallel Mechanism |
| title_full_unstemmed | Study on the Position Solution and Workspace of 3-RRS Spherical Parallel Mechanism |
| title_short | Study on the Position Solution and Workspace of 3-RRS Spherical Parallel Mechanism |
| title_sort | study on the position solution and workspace of 3 rrs spherical parallel mechanism |
| topic | 3-RRS spherical parallel mechanism Screw theory Forward position solution Inverse position solution Workspace |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2016.10.004 |
| work_keys_str_mv | AT lidahai studyonthepositionsolutionandworkspaceof3rrssphericalparallelmechanism AT liruiqin studyonthepositionsolutionandworkspaceof3rrssphericalparallelmechanism AT songshengtao studyonthepositionsolutionandworkspaceof3rrssphericalparallelmechanism AT zhangmengmeng studyonthepositionsolutionandworkspaceof3rrssphericalparallelmechanism AT zhaojianwen studyonthepositionsolutionandworkspaceof3rrssphericalparallelmechanism |