Using virtual work theory and CAD functionalities for solving active force and passive force of spatial parallel manipulators

被引：25

作者：

Lu, Yi ^{[1
]}

机构：

[1] Yanshan Univ, Coll Mech Engn, Robot Res Ctr, Qinhuangdao 066004, Hebei, Peoples R China

来源：

MECHANISM AND MACHINE THEORY | 2007年 / 42卷 / 07期

基金：

中国国家自然科学基金;

关键词：

computer variation geometry; parallel manipulator; simulation mechanism; force;

D O I：

10.1016/j.mechmachtheory.2006.06.011

中图分类号：

TH [机械、仪表工业];

学科分类号：

0802 ;

摘要：

A novel approach by using virtual work theory and CAD functionalities is proposed for solving active and passive forces of spatial parallel manipulators with 3-6 active limbs. Some common math foundations, computer variation geometry techniques, and definitions are presented for designing F/T (force/torque) simulation mechanism. Several novel spatial parallel manipulators with 3-5 active limbs and their F/T simulation mechanisms are synthesized. When modify the driving dimensions of active limbs, the configurations of the F/T simulation mechanisms are varied correspondingly, and the active forces and passive force are solved and visualized dynamically. (c) 2006 Elsevier Ltd. All rights reserved.

引用

页码：839 / 858

页数：20

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