scholarly journals Kinematics and Dynamic Analysis of a Hydraulically Driven Three-Degree-of-Freedom Parallel Mechanism

2002 ◽  
Vol 2002 (5-2) ◽  
pp. 465-470 ◽  
Author(s):  
Huapeng Wu ◽  
Heikki Handroos
Keyword(s):  
Dynamic Analysis ◽  
Parallel Mechanism ◽  
Degree Of Freedom ◽  
Three Degree Of Freedom

Dynamic analysis and control of mini three degree-of-freedom robot applied in laser focusing

2016 ◽  
Vol 45 (9) ◽  
pp. 0918003
Author(s):  
王施相 Wang Shixiang ◽  
郭 劲 Guo Jin ◽  
甘新基 Gan Xinji ◽  
王挺峰 Wang Tingfeng
Keyword(s):  
Dynamic Analysis ◽  
Degree Of Freedom ◽  
Laser Focusing ◽  
Three Degree Of Freedom ◽  
And Control

Dynamic analysis and control of mini three degree-of-freedom robot applied in laser focusing

2016 ◽  
Vol 45 (9) ◽  
pp. 918003
Author(s):  
王施相 Wang Shixiang ◽  
郭 劲 Guo Jin ◽  
甘新基 Gan Xinji ◽  
王挺峰 Wang Tingfeng
Keyword(s):  
Dynamic Analysis ◽  
Degree Of Freedom ◽  
Laser Focusing ◽  
Three Degree Of Freedom ◽  
And Control

Dynamic analysis of three degree of freedom (3-DOF) exoskeleton for lower extremities

2016 ◽  
Author(s):  
Mohd Zul Fahmi Mohd Zawawi ◽  
Irraivan Elamvazuthi ◽  
Azrina Abd. Aziz ◽  
Suraya Fateha Mazlan ◽  
Ku Nurhanim Ku Abd Rahim
Keyword(s):  
Dynamic Analysis ◽  
Lower Extremities ◽  
Degree Of Freedom ◽  
Three Degree Of Freedom

Novel Design and Analysis of a Fully Decoupled 3-DOF Spherical Parallel Robot

2009 ◽  
Author(s):  
Dan Zhang ◽  
Fan Zhang
Keyword(s):  
Physical Meaning ◽  
Parallel Mechanism ◽  
Jacobian Matrix ◽  
Parallel Robot ◽  
Degree Of Freedom ◽  
Redundant Constraints ◽  
Rotational Motions ◽  
Three Degree Of Freedom ◽  
Novel Design

In this paper, we propose a unique, decoupled Three Degree-of-Freedom (DOF) parallel wrist. The condition required for synthesizing a fully isotropic parallel mechanism is obtained based on the physical meaning of the row vector in the Jacobian Matrix. Specifically, an over-constrained spherical 3-DOF parallel mechanism is presented and the modified structure, which avoids the redundant constraints, is also introduced. The proposed manipulator is capable of decoupled rotational motions around the x, y and z axes and contains an output angle that is equal to the input angle. Since this device is analyzed with the Jacobian Matrix, which is constant, the mechanism is free of singularity and maintains homogenous stiffness over the entire workspace.

Kinematic, Static, and Dynamic Analysis of a Spatial Three-Degree-of-Freedom Tensegrity Mechanism

2005 ◽  
Vol 128 (5) ◽  
pp. 1061-1069 ◽  
Author(s):  
Marc Arsenault ◽  
Clément M. Gosselin
Keyword(s):  
Mathematical Models ◽  
Dynamic Analysis ◽  
Degree Of Freedom ◽  
Static And Dynamic Analysis ◽  
Statics And Dynamics ◽  
Potential Alternative ◽  
Three Degree Of Freedom ◽  
Moving Parts

One of the drawbacks of conventional mechanisms is the significant inertia of their moving parts. Tensegrity mechanisms, which have a reduced mass because of their extensive use of cables and springs, represent a potential alternative to these mechanisms for certain types of applications. In this paper a new spatial three-degree-of-freedom tensegrity mechanism is developed and analyzed. Mathematical models of the kinematics, statics, and dynamics of the mechanism are generated. These models reveal several characteristics of the fundamental behavior of tensegrity mechanisms that make them rather unique.

Synthesis, Design, and Prototyping of a Planar Three Degree-of-Freedom Reactionless Parallel Mechanism

2004 ◽  
Vol 126 (6) ◽  
pp. 992-999 ◽  
Author(s):  
Simon Foucault ◽  
Cle´ment M. Gosselin
Keyword(s):  
Parallel Mechanism ◽  
Degree Of Freedom ◽  
Numerical Verification ◽  
Dynamic Balancing ◽  
Synthesis Design ◽  
Reaction Forces ◽  
Three Degree Of Freedom

This paper addresses the dynamic balancing of a planar three-degree-of-freedom parallel mechanism. A mechanism is said to be dynamically balanced if, for any motion of the mechanism, the reaction forces and torques at the base are identically equal to zero, at all times. The proposed mechanism is based on legs consisting of five-bar parallelogram linkages. The balancing equations are first obtained. Then, optimization is used in order to minimize the mass and inertia of the moving links. Finally, a numerical verification of the dynamic balancing is provided and the prototype is presented.

Dynamic Analysis of a New Three-Degree-of-Freedom Actuator for Image Stabilization

2017 ◽  
Vol 53 (6) ◽  
pp. 1-4
Author(s):  
Akira Heya ◽  
Katsuhiro Hirata ◽  
Shota Ezaki ◽  
Tomohiro Ota
Keyword(s):  
Dynamic Analysis ◽  
Degree Of Freedom ◽  
Image Stabilization ◽  
Three Degree Of Freedom

A 3-ṞPR Parallel Mechanism With Singularities That are Self-Motions

2010 ◽  
Vol 2 (3) ◽  
Author(s):  
Novona Rakotomanga ◽  
Ilian A. Bonev
Keyword(s):  
Parallel Mechanism ◽  
Control Strategies ◽  
Joint Space ◽  
Degree Of Freedom ◽  
Parallel Mechanisms ◽  
Active Joint ◽  
Cartesian Space ◽  
Three Degree Of Freedom

The Cartesian workspace of most three-degree-of-freedom parallel mechanisms is divided by Type 2 (also called parallel) singularity surfaces into several regions. Accessing more than one such region requires crossing a Type 2 singularity, which is risky and calls for sophisticated control strategies. Some mechanisms can still cross these Type 2 singularity surfaces through “holes” that represent Type 1 (also called serial) singularities only. However, what is even more desirable is if these Type 2 singularity surfaces were curves instead. Indeed, there exists at least one such parallel mechanism (the agile eye) and all of its singularities are self-motions. This paper presents another parallel mechanism, a planar one, whose singularities are self-motions. The singularities of this novel mechanism are studied in detail. While the Type 2 singularities in the Cartesian space still constitute a surface, they degenerate into lines in the active-joint space, which is the main result of this paper.

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