Kinematics and dynamics analyses of a parallel manipulator with three active legs and one passive leg by a virtual serial mechanism

被引：23

作者：

Lu, Yi ^{[1
]}

Hu, Bo ^{[1
]}

Liu, Ping-Li ^{[1
]}

机构：

[1] Yanshan Univ, Coll Mech Engn, Robot Res Ctr, Qinhuangdao, Hebei, Peoples R China

来源：

MULTIBODY SYSTEM DYNAMICS | 2007年 / 17卷 / 04期

关键词：

parallel manipulator; kinematics; dynamics; workspace; singularity; serial mechanism; INVERSE DYNAMICS; FORMULATION; PRINCIPLE;

D O I：

10.1007/s11044-006-9032-4

中图分类号：

O3 [力学];

学科分类号：

08 ; 0801 ;

摘要：

A novel CAD variation geometry approach and a virtual serial mechanism approach are proposed for analyzing the kinematics and dynamics of a parallel manipulator with three SPS-type active legs and one PU-type constrained passive leg. First, a simulation mechanism of this parallel manipulator is created, and some kinematic characteristics are analyzed. Second, the inverse formulae for solving pose and Jocabian matrix are derived, and workspace and singularity are determined. Third, a virtual serial mechanism is created, and the analytic formulae for solving active forces and constrained wrench of these parallel manipulators are derived. The analytic results are verified by using its simulation mechanism.

引用

页码：229 / 241

页数：13

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