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Unified analysis of statics of some limited-DOF parallel manipulators

Published online by Cambridge University Press:  01 July 2011

Bo Hu ,
Yi Lu ,
Xiuli Zhang  and
Jianping Yu
Bo Hu
Affiliation:
College of Mechanical Engineering, Yanshan University, Qinhuangdao, Hebei, 066004, P. R. China
Yi Lu*
Affiliation:
College of Mechanical Engineering, Yanshan University, Qinhuangdao, Hebei, 066004, P. R. China
Xiuli Zhang
Affiliation:
College of Qinhuangdao Building Material, Qinhuangdao, Hebei, 066004P. R. China
Jianping Yu
Affiliation:
College of Foreign Studies, Yanshan University, Qinhuangdao, Hebei, 066004, P. R. China
*
*Corresponding author. E-mail: luyi@ysu.edu.cn
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Summary

An observation approach is proposed for determining the poses of the active/constrained wrench and the unified statics of some limited-DOF parallel manipulators (PMs) are studied systematically. First, a general PM model is constructed, and the unified inverse displacement is analyzed. Second, various types of acceptable legs are synthesized; the poses of the active/constrained wrench exerted on the various acceptable legs are determined by the observation approach. Third, a unified 6 × 6 Jacobina matrix and a unified statics equation are derived for solving active/constrained wrench of many limited-DOF PMs. Finally, two PMs are presented to illustrate this approach.

Keywords

Parallel manipulatorsRobot dynamicsKinematicsStaticsConstraint wrench
Type
Articles
Information
Robotica , Volume 30 , Issue 3 , May 2012 , pp. 333 - 342
Copyright
Copyright © Cambridge University Press 2011

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