The kinematics and statics analysis of a 2-DOF three branches parallel mechanism

Author

Han, Xu-zhao ; Huang, Yu-Mei ; Chen, Chun ; Zhang, Li-xin ; Cai, Xiao-jiang

Author_Institution

Sch. of Mech. & Precision Instrum. Eng., Xi´´an Univ. of Technol., Xi´´an

Volume

4

fYear

2008

fDate

12-15 July 2008

Firstpage

2398

Lastpage

2401

Abstract

According to the parallel mechanism which is less than six degrees has many merits, this paper presented a kind of two-degree-of-freedom and three branches parallel mechanism, introduced this mechanismpsilas composition, and induced the direct and the inverse solution formulas of this parallel mechanismpsilas kinematics and statics, with the Jacobian matrix and its inverse matrix obtained. Through analysis we can see that this parallel mechanismpsilas kinematics and statics solution has the explicit expression, and this parallel mechanism is easy to realize the real-time control, could satisfy the project practical application, and has the widespread project practical value.

Keywords

Jacobian matrices; inverse problems; kinematics; statics; 2-DOF three branches parallel mechanism; Jacobian matrix; inverse matrix; inverse solution formula; kinematics analysis; mechanism composition; real-time control; statics analysis; Computer aided instruction; Cybernetics; Fasteners; Instruments; Interference; Jacobian matrices; Machine learning; Machine tools; Robot kinematics; Transmission line matrix methods; Jacobian Matrix; Kinematics; Parallel Mechanism; Statics; The Direct And The Inverse Solution;

fLanguage

English

Publisher

ieee

Conference_Titel

Machine Learning and Cybernetics, 2008 International Conference on

Conference_Location

Kunming

Print_ISBN

978-1-4244-2095-7

Electronic_ISBN

978-1-4244-2096-4

Type

conf

DOI

10.1109/ICMLC.2008.4620807

Filename

4620807