Vector Bond Graph Method of Kineto- static Analysis for 3SPS + 1PS Paralell Robot
In order to increase the reliability and efficiency of the kineto- static analysis of complex space robot systems,the corresponding vector bond graph method is proposed. From the kinematic constraint condition,the vector bond graph models of spherical joint and prismatic joint are built. Based on th...
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| Main Authors: | , , , |
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| Format: | Article |
| Language: | zho |
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Editorial Office of Journal of Mechanical Transmission
2015-01-01
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| Series: | Jixie chuandong |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2015.07.003 |
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| _version_ | 1841548479615205376 |
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| author | Wang Zhongshuang Tao Yangyang Liu Shang Chen Ji |
| author_facet | Wang Zhongshuang Tao Yangyang Liu Shang Chen Ji |
| author_sort | Wang Zhongshuang |
| collection | DOAJ |
| description | In order to increase the reliability and efficiency of the kineto- static analysis of complex space robot systems,the corresponding vector bond graph method is proposed. From the kinematic constraint condition,the vector bond graph models of spherical joint and prismatic joint are built. Based on this,the vector bond graph model of 3PS + 1PS parallel robot is established. For the algebraic difficulties brought by differential causality and nonlinear junction structure in automatic modeling and kineto- static analysis of spatial robot mechanism,the effective bond graph augment method is proposed. By the corresponding algorithm,the automatic modeling and kineto- static analysis of 3PS + 1PS parallel robot system on a computer is realized,its validity is illustrated. |
| format | Article |
| id | doaj-art-aba49b5d4bec4946935b0003e05b9eff |
| institution | Kabale University |
| issn | 1004-2539 |
| language | zho |
| publishDate | 2015-01-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj-art-aba49b5d4bec4946935b0003e05b9eff2025-01-10T14:05:51ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392015-01-0139111529917837Vector Bond Graph Method of Kineto- static Analysis for 3SPS + 1PS Paralell RobotWang ZhongshuangTao YangyangLiu ShangChen JiIn order to increase the reliability and efficiency of the kineto- static analysis of complex space robot systems,the corresponding vector bond graph method is proposed. From the kinematic constraint condition,the vector bond graph models of spherical joint and prismatic joint are built. Based on this,the vector bond graph model of 3PS + 1PS parallel robot is established. For the algebraic difficulties brought by differential causality and nonlinear junction structure in automatic modeling and kineto- static analysis of spatial robot mechanism,the effective bond graph augment method is proposed. By the corresponding algorithm,the automatic modeling and kineto- static analysis of 3PS + 1PS parallel robot system on a computer is realized,its validity is illustrated.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2015.07.003 |
| spellingShingle | Wang Zhongshuang Tao Yangyang Liu Shang Chen Ji Vector Bond Graph Method of Kineto- static Analysis for 3SPS + 1PS Paralell Robot Jixie chuandong |
| title | Vector Bond Graph Method of Kineto- static Analysis for 3SPS + 1PS Paralell Robot |
| title_full | Vector Bond Graph Method of Kineto- static Analysis for 3SPS + 1PS Paralell Robot |
| title_fullStr | Vector Bond Graph Method of Kineto- static Analysis for 3SPS + 1PS Paralell Robot |
| title_full_unstemmed | Vector Bond Graph Method of Kineto- static Analysis for 3SPS + 1PS Paralell Robot |
| title_short | Vector Bond Graph Method of Kineto- static Analysis for 3SPS + 1PS Paralell Robot |
| title_sort | vector bond graph method of kineto static analysis for 3sps 1ps paralell robot |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2015.07.003 |
| work_keys_str_mv | AT wangzhongshuang vectorbondgraphmethodofkinetostaticanalysisfor3sps1psparalellrobot AT taoyangyang vectorbondgraphmethodofkinetostaticanalysisfor3sps1psparalellrobot AT liushang vectorbondgraphmethodofkinetostaticanalysisfor3sps1psparalellrobot AT chenji vectorbondgraphmethodofkinetostaticanalysisfor3sps1psparalellrobot |