Position Analysis and Research of Reachable Workspace of 3-CRS/SP Parallel Mechanism
The degree of freedom of the 3-CRS/SP parallel mechanism is analyzed by using the screw theory,the distribution of degree of freedom of the mechanism is determined,the result is verified by the modified G-K formula. And the inverse position solution of the parallel mechanism is got through the metho...
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| Format: | Article |
| Language: | zho |
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Editorial Office of Journal of Mechanical Transmission
2017-01-01
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| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2017.12.003 |
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| _version_ | 1841547764759003136 |
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| author | Wang Ziqian Zhao Yaohong Li Ruiqin Zhao Jianwen Chen Xiaoming |
| author_facet | Wang Ziqian Zhao Yaohong Li Ruiqin Zhao Jianwen Chen Xiaoming |
| author_sort | Wang Ziqian |
| collection | DOAJ |
| description | The degree of freedom of the 3-CRS/SP parallel mechanism is analyzed by using the screw theory,the distribution of degree of freedom of the mechanism is determined,the result is verified by the modified G-K formula. And the inverse position solution of the parallel mechanism is got through the method of analytic geometry,the length between the three vertexes of the moving platform is regarded as the restrict condition to construct the constrained equations,the positive solution of all positions under the closed solution of the mechanism is studied. Finally,the appropriate motor is added to the mechanism,the boundary points that the intermediate branch chain in different lengths are searched,and the reachable workspace diagram of the mechanism is drawn by the MATLAB software. |
| format | Article |
| id | doaj-art-a08a91d6508f4990a413528a3d59e670 |
| institution | Kabale University |
| issn | 1004-2539 |
| language | zho |
| publishDate | 2017-01-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj-art-a08a91d6508f4990a413528a3d59e6702025-01-10T14:20:05ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392017-01-0141101329933820Position Analysis and Research of Reachable Workspace of 3-CRS/SP Parallel MechanismWang ZiqianZhao YaohongLi RuiqinZhao JianwenChen XiaomingThe degree of freedom of the 3-CRS/SP parallel mechanism is analyzed by using the screw theory,the distribution of degree of freedom of the mechanism is determined,the result is verified by the modified G-K formula. And the inverse position solution of the parallel mechanism is got through the method of analytic geometry,the length between the three vertexes of the moving platform is regarded as the restrict condition to construct the constrained equations,the positive solution of all positions under the closed solution of the mechanism is studied. Finally,the appropriate motor is added to the mechanism,the boundary points that the intermediate branch chain in different lengths are searched,and the reachable workspace diagram of the mechanism is drawn by the MATLAB software.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2017.12.003Parallel mechanismDegree of freedomForward and inverse solutionWorkingspace |
| spellingShingle | Wang Ziqian Zhao Yaohong Li Ruiqin Zhao Jianwen Chen Xiaoming Position Analysis and Research of Reachable Workspace of 3-CRS/SP Parallel Mechanism Jixie chuandong Parallel mechanism Degree of freedom Forward and inverse solution Workingspace |
| title | Position Analysis and Research of Reachable Workspace of 3-CRS/SP Parallel Mechanism |
| title_full | Position Analysis and Research of Reachable Workspace of 3-CRS/SP Parallel Mechanism |
| title_fullStr | Position Analysis and Research of Reachable Workspace of 3-CRS/SP Parallel Mechanism |
| title_full_unstemmed | Position Analysis and Research of Reachable Workspace of 3-CRS/SP Parallel Mechanism |
| title_short | Position Analysis and Research of Reachable Workspace of 3-CRS/SP Parallel Mechanism |
| title_sort | position analysis and research of reachable workspace of 3 crs sp parallel mechanism |
| topic | Parallel mechanism Degree of freedom Forward and inverse solution Workingspace |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2017.12.003 |
| work_keys_str_mv | AT wangziqian positionanalysisandresearchofreachableworkspaceof3crsspparallelmechanism AT zhaoyaohong positionanalysisandresearchofreachableworkspaceof3crsspparallelmechanism AT liruiqin positionanalysisandresearchofreachableworkspaceof3crsspparallelmechanism AT zhaojianwen positionanalysisandresearchofreachableworkspaceof3crsspparallelmechanism AT chenxiaoming positionanalysisandresearchofreachableworkspaceof3crsspparallelmechanism |