Unification and simplification of velocity/acceleration of limited-dof parallel manipulators with linear active legs
✍ Scribed by Yi Lu; Bo Hu
- Book ID
- 104048310
- Publisher
- Elsevier Science
- Year
- 2008
- Tongue
- English
- Weight
- 310 KB
- Volume
- 43
- Category
- Article
- ISSN
- 0094-114X
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✦ Synopsis
A unified and simple approach is proposed for solving inverse/forward velocity and acceleration of the limited-dof PKMs (parallel kinematic machines) with linear active legs. First, a general PKM with n active legs is constructed and some formulae for solving inverse displacement are derived. Second, the poses of the constrained wrench are determined and the formulae for solving auxiliary Jacobian/Hessian matrices and statics are derived. Third, some formulae are derived for solving the general velocity/acceleration, the 6 • 6 Jacobian matrix and the 6 • 6 • 6 Hessian matrix. Finally, the solving procedure is illustrated by applying it to a 3-SPR, a 4SPS + SPR and a 3-UPU PKMs.