CLOSED-FORM DIRECT POSITION ANALYSIS OF A 5-5 PARALLEL MECHANISM

被引：30

作者：

INNOCENTI, C

PARENTICASTELLI, V

机构：

[1] Dipartimento di Ingegneria delle costruzioni meccaniche, Universita di Bologna, Bologna, 40136, Viale Risorgimento

来源：

JOURNAL OF MECHANICAL DESIGN | 1993年 / 115卷 / 03期

关键词：

D O I：

10.1115/1.2919220

中图分类号：

TH [机械、仪表工业];

学科分类号：

0802 ;

摘要：

The paper presents the closed form direct displacement analysis for a class of Stewart platform-type parallel mechanisms whose general feature consists of six legs which meet five distinct points both in the base and in the movable output link. Out of the two possible arrangements, only one is here analyzed in detail. Given a set of actuator displacements the analysis provides all the possible locations of the platform relative to the base. The analysis results in a 40th degree polynomial equation in one unknown. The roots of the equation provide in the complex field forty closures of the mechanism. This new result has been numerically verified by the inverse displacement analysis.

引用

页码：515 / 521

页数：7

共 24 条

[1]

Fichter E.F., A Stewart Platform-Based Manipulator: General Theory and Practical Construction, Ini. J. Robot. Res., 5, 2, pp. 157-182, (1986)

[2]

Griffis M., Duffy J., A Forward Displacement Analysis of a Class of Stewart Platform, J of Robotic Systems, 6, 6, pp. 703-720, (1989)

[3]

Griffis M., Duffy J., On a General Model of Spatial Stiffness, (1990)

[4]

Hunt K.J., Structural Kinematics of In-Parallel-Actuated Robot-Arms, ASME Journal of Mechanisms, Transmissions, and Automation in Design, 105, pp. 705-712, (1983)

[5]

Innocenti C., Parenti-Castelli V., Direct Position Analysis of the Stewart Platform Mechanism, Mechanism and Machine Theory, 25, 6, pp. 611-621, (1990)

[6]

Innocenti C., Parenti-Castelli V., A New Kinematic Model for the Closure Equations of the Generalized Stewart Platform Mechanism, (1990)

[7]

Inoue H., Tsusaka Y., Fukuizumi T., Parallel Manipulator, pp. 321-327, (1985)

[8]

Kerr D.R., Analysis, Properties, and Design of a Stewart-Platform Transducer, ASME Journal of Mechanisms, Transmissions, and Automation in Design, 3, pp. 25-28, (1989)

[9]

McCallion H., Truong P.D., The Analysis of a Six-Degree-of-Freedom Workstation for Mechanized Assembly, Proc of the Fifth World Congress on Theory of Machines and Mechanisms, pp. 611-616, (1979)

[10]

Merlet J.P., Parallel Manipulators, (1988)

← 1 2 3 →