Kinematic analysis for a six-degree-of-freedom 3-PRPS parallel mechanism

1988 ◽  
Vol 4 (5) ◽  
pp. 561-565 ◽  
Author(s):  
F. Behi
Keyword(s):  
Kinematic Analysis ◽  
Parallel Mechanism ◽  
Degree Of Freedom ◽  
Six Degree Of Freedom

Kinematic and Workspace Modelling of a 6-PUS Parallel Mechanism

2018 ◽  
Author(s):  
Jérôme Landuré ◽  
Clément Gosselin
Keyword(s):  
Kinematic Analysis ◽  
Parallel Mechanism ◽  
Inverse Kinematic ◽  
Degree Of Freedom ◽  
Accurate Description ◽  
Transmission Ratio ◽  
Inverse Kinematic Problem ◽  
Jacobian Matrices ◽  
Six Degree Of Freedom

This article presents the kinematic analysis of a six-degree-of-freedom six-legged parallel mechanism of the 6-PUS architecture. The inverse kinematic problem is recalled and the Jacobian matrices are derived. Then, an algorithm for the geometric determination of the workspace is presented, which yields a very fast and accurate description of the workspace of the mechanism. Singular boundaries and a transmission ratio index are then introduced and studied for a set of architectural parameters. The proposed analysis yields conceptual architectures whose properties can be adjusted to fit given applications.

Reverse Kinematic Analysis of the Spatial Six Axis Robotic Manipulator With Consecutive Joint Axes Parallel

2007 ◽  
Author(s):  
Javier Rolda´n Mckinley ◽  
Carl Crane ◽  
David B. Dooner
Keyword(s):  
Kinematic Analysis ◽  
Closed Loop ◽  
Degree Of Freedom ◽  
Repetitive Motion ◽  
Spatial Mechanism ◽  
Joint Axis ◽  
Specific Geometry ◽  
Noncircular Gears ◽  
Six Degree Of Freedom ◽  
The Given

This paper introduces a reconfigurable one degree-of-freedom spatial mechanism that can be applied to repetitive motion tasks. The concept is to incorporate five pairs of noncircular gears into a six degree-of-freedom closed-loop spatial chain. The gear pairs are designed based on the given mechanism parameters and the user defined motion specification of a coupler link of the mechanism. It is shown in the paper that planar gear pairs can be used if the spatial closed-loop chain is comprised of six pairs of parallel joint axes, i.e. the first joint axis is parallel to the second, the third is parallel to the fourth, …, and the eleventh is parallel to the twelfth. This paper presents the detailed reverse kinematic analysis of this specific geometry. A numerical example is presented.

Kinematic Analysis of 4-UPU Parallel Mechanism Based on Influence Coefficient

2015 ◽  
Vol 741 ◽  
pp. 691-696 ◽  
Author(s):  
Guang Lan Xia ◽  
Xing Wei Hu ◽  
Bao Lin Yin ◽  
Feng Yu
Keyword(s):  
Numerical Analysis ◽  
Kinematic Analysis ◽  
Parallel Mechanism ◽  
Coefficient Matrix ◽  
Degree Of Freedom ◽  
Kinematics And Dynamics ◽  
Influence Coefficient ◽  
Mechanism Analysis ◽  
Acceleration Coefficient ◽  
Mechanism Kinematic

Mechanism kinematic influence coefficient deeply reflects the essence of the kinematics and dynamics mechanism, analysis of the problems of many institutions can use the influence coefficient of clear and clearly expressed. In this paper, with less degree of freedom parallel mechanism as the research object, through the virtual mechanism method to derive one or two order influence coefficient matrix, based on the analysis of the mechanism and influence of speed and acceleration coefficient matrix. Finally, the precision of the method for solving the kinematics is proved by examples of numerical analysis.

Design of Statically Balanced Six-Degree-of-Freedom Parallel Mechanisms Based on Tensegrity System

2009 ◽  
Author(s):  
S. M. Mehdi Shekarforoush ◽  
Mohammad Eghtesad ◽  
Mehrdad Farid
Keyword(s):  
Parallel Mechanism ◽  
Degree Of Freedom ◽  
Parallel Mechanisms ◽  
Engineering Systems ◽  
Suitable Alternative ◽  
Tensegrity Systems ◽  
Six Degree Of Freedom

A parallel mechanism that is based on tensegrity system is studied in this article. Tensegrity systems are a suitable alternative for conventional engineering systems like mechanisms for some application. In this article, tensegrity mechanisms are classified into tensegrity mechanism with passive and active compliant components. Based on this classification, two types of six-degree-of-freedom parallel mechanism are proposed and kinematics and static of them are solved. The first type is the 6–6 tensegrity mechanism with passive compliant components and the second type is the 6-3 tensegrity mechanism with active compliant components.

A Gravity-Powered Mechanism for Extending the Workspace of a Cable-Driven Parallel Mechanism: Application to the Appearance Modelling of Objects

2010 ◽  
Vol 4 (4) ◽  
pp. 372-379 ◽  
Author(s):  
Clément Gosselin ◽  
◽  
Samuel Bouchard
Keyword(s):  
High Resolution ◽  
Parallel Mechanism ◽  
Light Field ◽  
Degree Of Freedom ◽  
Passive Mechanism ◽  
Six Degree Of Freedom

This paper presents a gravity-powered passive onedof mechanism used to extend the workspace of a six-degree-of-freedom cable-driven parallel mechanism. The passive mechanism is mounted on the platform of the cable-driven mechanism in order to increase the useful workspace of the system. The application that stimulated the development of the mechanism is a system for capturing the light field of an object to reproduce the appearance of artefacts. The concept is based on a six-degree-of-freedom (6-dof) cable-driven parallel mechanism that is used to move a high resolution camera around the object. The geometry of the mechanism is optimized in order to cover a workspace defined as a hemisphere centred on the object.

Kinematic Analysis of A Novel 2-UPU/2-URU Parallel Mechanism

2011 ◽  
Vol 317-319 ◽  
pp. 469-474
Author(s):  
Shi Hua Li ◽  
Zhi Song Wang ◽  
Chang Cheng Yu ◽  
Wen Gong
Keyword(s):  
Kinematic Analysis ◽  
Parallel Mechanism ◽  
Screw Theory ◽  
Degree Of Freedom ◽  
Influence Coefficient ◽  
Performance Curve ◽  
Kinematics Analysis

Abstract. In this paper, a novel type of 2-UPU/2-URU asymmetric parallel mechanism is put forward, the degree of freedom and kinematics characteristics of the mechanism is analyzed. Firstly, based on screw theory, the degree of freedom of the mechanism is analyzed by using modified Grübler-Kutzbach formula of Degree of Freedom, the method is ingenious and simple. Then the kinematics analysis is done. Finally, the velocity and acceleration of the mechanism is analyzed by combining kinematic influence coefficient theory with imaginary mechanism method, and draw the velocity and acceleration performance curve of the mechanism with the MATLAB. This paper lays the foundation for further research of the parallel mechanism.

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