Forward Kinematics Analysis of 2RUS/RRS Parallel Mechanism
The iterative search method（ Newton or Quasi-Newton） is an important numerical method for solving the forward kinematics（ FK） problem of parallel mechanisms. Due to the extremely displacement singularity in the limbs,the search space is easy to be out of the mechanism workspace,which causes failed i...
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Editorial Office of Journal of Mechanical Transmission
2018-01-01
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| Series: | Jixie chuandong |
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| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2018.05.013 |
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| _version_ | 1841547411771621376 |
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| author | Geng Mingchao Bian Hui Zhang Canguo Li Xin |
| author_facet | Geng Mingchao Bian Hui Zhang Canguo Li Xin |
| author_sort | Geng Mingchao |
| collection | DOAJ |
| description | The iterative search method（ Newton or Quasi-Newton） is an important numerical method for solving the forward kinematics（ FK） problem of parallel mechanisms. Due to the extremely displacement singularity in the limbs,the search space is easy to be out of the mechanism workspace,which causes failed in solving the FK problem of the class of 2 RUS/2 RRS mechanism. Taking the plane series branch as an example,the equivalent method of eliminating the extremely displacement singularity is given,and the 2 RUS/2 RRS mechanism is equivalent to a 2 UPS/2 RPS mechanism. Based on the relationship between the angular velocity and the Euler’s derivative,the 4 × 4 Jacobian matrix is gotten through the virtual mechanism method. The Jacobian matrix of the initial pose of the equivalent mechanism can be taken as the approximate initial value of the Quasi-Newton method,which can reduce the calculation and improve the computational efficiency. The FK problem of 2 RUS/2 RRS are numerically verified by inverse Broyden algorithm in Quasi-Newton method. |
| format | Article |
| id | doaj-art-5349504b739040418176996c249dd71b |
| institution | Kabale University |
| issn | 1004-2539 |
| language | zho |
| publishDate | 2018-01-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj-art-5349504b739040418176996c249dd71b2025-01-10T14:42:16ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392018-01-0142677229936562Forward Kinematics Analysis of 2RUS/RRS Parallel MechanismGeng MingchaoBian HuiZhang CanguoLi XinThe iterative search method（ Newton or Quasi-Newton） is an important numerical method for solving the forward kinematics（ FK） problem of parallel mechanisms. Due to the extremely displacement singularity in the limbs,the search space is easy to be out of the mechanism workspace,which causes failed in solving the FK problem of the class of 2 RUS/2 RRS mechanism. Taking the plane series branch as an example,the equivalent method of eliminating the extremely displacement singularity is given,and the 2 RUS/2 RRS mechanism is equivalent to a 2 UPS/2 RPS mechanism. Based on the relationship between the angular velocity and the Euler’s derivative,the 4 × 4 Jacobian matrix is gotten through the virtual mechanism method. The Jacobian matrix of the initial pose of the equivalent mechanism can be taken as the approximate initial value of the Quasi-Newton method,which can reduce the calculation and improve the computational efficiency. The FK problem of 2 RUS/2 RRS are numerically verified by inverse Broyden algorithm in Quasi-Newton method.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2018.05.013Parallel mechanismForward kinematicsIterative searchQuasi-Newton |
| spellingShingle | Geng Mingchao Bian Hui Zhang Canguo Li Xin Forward Kinematics Analysis of 2RUS/RRS Parallel Mechanism Jixie chuandong Parallel mechanism Forward kinematics Iterative search Quasi-Newton |
| title | Forward Kinematics Analysis of 2RUS/RRS Parallel Mechanism |
| title_full | Forward Kinematics Analysis of 2RUS/RRS Parallel Mechanism |
| title_fullStr | Forward Kinematics Analysis of 2RUS/RRS Parallel Mechanism |
| title_full_unstemmed | Forward Kinematics Analysis of 2RUS/RRS Parallel Mechanism |
| title_short | Forward Kinematics Analysis of 2RUS/RRS Parallel Mechanism |
| title_sort | forward kinematics analysis of 2rus rrs parallel mechanism |
| topic | Parallel mechanism Forward kinematics Iterative search Quasi-Newton |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2018.05.013 |
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