Research of Reachable Workspace of 2-RPR+RRP Spherical Hybrid Mechanism
The reachable workspace of 2- RPR + RRP spherical hybrid mechanism is researched. Firstly,the degree of freedom of the mechanism is solved by the modified Kutzbach- Grvbler formula,the degree of freedom of the mechanism and the motion characteristics of moving platform are obtained. Secondly,taking...
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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 |
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| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2017.01.006 |
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| author | Zhao Jianwen Song Shengtao Li Ruiqin Li Dahai |
| author_facet | Zhao Jianwen Song Shengtao Li Ruiqin Li Dahai |
| author_sort | Zhao Jianwen |
| collection | DOAJ |
| description | The reachable workspace of 2- RPR + RRP spherical hybrid mechanism is researched. Firstly,the degree of freedom of the mechanism is solved by the modified Kutzbach- Grvbler formula,the degree of freedom of the mechanism and the motion characteristics of moving platform are obtained. Secondly,taking the geometric relation of mechanism as the constraint condition and combining with the rotation matrix,the mathematical model of the closed positive solution of the kinematics position of the mechanism is established. Finally,according to the positive kinematics solution model,the Matlab software is used to draw up the workspace of the reference point in the specific condition,and the reachable workspace of the same conditions is verified by using the Solid Works simulation software. The correctness of the positive solution model is proved,a theoretical basis for the further analysis and optimization of the mechanism is provided. |
| format | Article |
| id | doaj-art-e5891d4dbe594f6a93e925b1f1d48881 |
| 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-e5891d4dbe594f6a93e925b1f1d488812025-01-10T14:39:13ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392017-01-0141242729928382Research of Reachable Workspace of 2-RPR+RRP Spherical Hybrid MechanismZhao JianwenSong ShengtaoLi RuiqinLi DahaiThe reachable workspace of 2- RPR + RRP spherical hybrid mechanism is researched. Firstly,the degree of freedom of the mechanism is solved by the modified Kutzbach- Grvbler formula,the degree of freedom of the mechanism and the motion characteristics of moving platform are obtained. Secondly,taking the geometric relation of mechanism as the constraint condition and combining with the rotation matrix,the mathematical model of the closed positive solution of the kinematics position of the mechanism is established. Finally,according to the positive kinematics solution model,the Matlab software is used to draw up the workspace of the reference point in the specific condition,and the reachable workspace of the same conditions is verified by using the Solid Works simulation software. The correctness of the positive solution model is proved,a theoretical basis for the further analysis and optimization of the mechanism is provided.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2017.01.006Degree of freedomClosed positive solutionReachable workspace |
| spellingShingle | Zhao Jianwen Song Shengtao Li Ruiqin Li Dahai Research of Reachable Workspace of 2-RPR+RRP Spherical Hybrid Mechanism Jixie chuandong Degree of freedom Closed positive solution Reachable workspace |
| title | Research of Reachable Workspace of 2-RPR+RRP Spherical Hybrid Mechanism |
| title_full | Research of Reachable Workspace of 2-RPR+RRP Spherical Hybrid Mechanism |
| title_fullStr | Research of Reachable Workspace of 2-RPR+RRP Spherical Hybrid Mechanism |
| title_full_unstemmed | Research of Reachable Workspace of 2-RPR+RRP Spherical Hybrid Mechanism |
| title_short | Research of Reachable Workspace of 2-RPR+RRP Spherical Hybrid Mechanism |
| title_sort | research of reachable workspace of 2 rpr rrp spherical hybrid mechanism |
| topic | Degree of freedom Closed positive solution Reachable workspace |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2017.01.006 |
| work_keys_str_mv | AT zhaojianwen researchofreachableworkspaceof2rprrrpsphericalhybridmechanism AT songshengtao researchofreachableworkspaceof2rprrrpsphericalhybridmechanism AT liruiqin researchofreachableworkspaceof2rprrrpsphericalhybridmechanism AT lidahai researchofreachableworkspaceof2rprrrpsphericalhybridmechanism |