Kinematics and Transmission Performance Analyses of a 2T2R Type 4-DOF Spatial Parallel Manipulator
A 2-RPU&2-SPS spatial parallel mechanism (SPM) is researched. Firstly, the number and property of degrees of freedom (DOF) of the SPM are analyzed by screw theory. There are two rotational and two translational movements (2R2T) of the mechanism that can be achieved. Secondly, the position analys...
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| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
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Wiley
2018-01-01
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| Series: | Journal of Robotics |
| Online Access: | http://dx.doi.org/10.1155/2018/4750627 |
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| author | Haiyan An Bin Li Shoujun Wang Weimin Ge |
| author_facet | Haiyan An Bin Li Shoujun Wang Weimin Ge |
| author_sort | Haiyan An |
| collection | DOAJ |
| description | A 2-RPU&2-SPS spatial parallel mechanism (SPM) is researched. Firstly, the number and property of degrees of freedom (DOF) of the SPM are analyzed by screw theory. There are two rotational and two translational movements (2R2T) of the mechanism that can be achieved. Secondly, the position analyses are researched. For the inverse position analysis, the explicit expression can be obtained from the independent motion parameters of the given mechanism, and the forward position problem is solved by calculating a set of nonlinear equation systems. Then we obtained the workspace of the mechanism based on the analytic formulae of the inverse displacement. Finally, by establishing the Jacobian matrix of the mechanism, the singularity of the mechanism is obtained, and the kinematics transmission performance of the mechanism is studied by using the index of the output efficiency of the limb output of the mechanism. This work will provide the theoretical basis for prototype development and application of the mechanism. |
| format | Article |
| id | doaj-art-b4cf7bfb42764b00819301e54d2acd26 |
| institution | Kabale University |
| issn | 1687-9600 1687-9619 |
| language | English |
| publishDate | 2018-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Journal of Robotics |
| spelling | doaj-art-b4cf7bfb42764b00819301e54d2acd262025-02-03T00:59:23ZengWileyJournal of Robotics1687-96001687-96192018-01-01201810.1155/2018/47506274750627Kinematics and Transmission Performance Analyses of a 2T2R Type 4-DOF Spatial Parallel ManipulatorHaiyan An0Bin Li1Shoujun Wang2Weimin Ge3Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control, School of Mechanical Engineering, Tianjin University of Technology, Tianjin 300384, ChinaTianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control, School of Mechanical Engineering, Tianjin University of Technology, Tianjin 300384, ChinaTianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control, School of Mechanical Engineering, Tianjin University of Technology, Tianjin 300384, ChinaTianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control, School of Mechanical Engineering, Tianjin University of Technology, Tianjin 300384, ChinaA 2-RPU&2-SPS spatial parallel mechanism (SPM) is researched. Firstly, the number and property of degrees of freedom (DOF) of the SPM are analyzed by screw theory. There are two rotational and two translational movements (2R2T) of the mechanism that can be achieved. Secondly, the position analyses are researched. For the inverse position analysis, the explicit expression can be obtained from the independent motion parameters of the given mechanism, and the forward position problem is solved by calculating a set of nonlinear equation systems. Then we obtained the workspace of the mechanism based on the analytic formulae of the inverse displacement. Finally, by establishing the Jacobian matrix of the mechanism, the singularity of the mechanism is obtained, and the kinematics transmission performance of the mechanism is studied by using the index of the output efficiency of the limb output of the mechanism. This work will provide the theoretical basis for prototype development and application of the mechanism.http://dx.doi.org/10.1155/2018/4750627 |
| spellingShingle | Haiyan An Bin Li Shoujun Wang Weimin Ge Kinematics and Transmission Performance Analyses of a 2T2R Type 4-DOF Spatial Parallel Manipulator Journal of Robotics |
| title | Kinematics and Transmission Performance Analyses of a 2T2R Type 4-DOF Spatial Parallel Manipulator |
| title_full | Kinematics and Transmission Performance Analyses of a 2T2R Type 4-DOF Spatial Parallel Manipulator |
| title_fullStr | Kinematics and Transmission Performance Analyses of a 2T2R Type 4-DOF Spatial Parallel Manipulator |
| title_full_unstemmed | Kinematics and Transmission Performance Analyses of a 2T2R Type 4-DOF Spatial Parallel Manipulator |
| title_short | Kinematics and Transmission Performance Analyses of a 2T2R Type 4-DOF Spatial Parallel Manipulator |
| title_sort | kinematics and transmission performance analyses of a 2t2r type 4 dof spatial parallel manipulator |
| url | http://dx.doi.org/10.1155/2018/4750627 |
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