Kinematics analysis of six-bar parallel mechanism and its applications in synchrotron radiation beamline

	Kinematics analysis of six-bar parallel mechanism and its applications in synchrotron radiation beamline
其他题名	论文其他题名
	Lu Q. P.; Li Y. J.; Peng Z. Q.
	2012
发表期刊	Nuclear Instruments & Methods in Physics Research Section a-Accelerators Spectrometers Detectors and Associated Equipment
ISSN	0168-9002
卷号	674 页码:8-14
摘要	Six-bar parallel mechanism is now widely applied in synchrotron radiation beamline, while the six-dimensional adjustment is difficult and inefficient for lack of theoretical direction. This paper introduces a special six-bar parallel mechanism. By means of coordinate transformations, the inverse kinematics of six-bar parallel mechanism is studied, and the precise equations for six bars' lengths are obtained. Based on the inverse kinematics, forward kinematics of six-bar parallel mechanism is obtained with trust region method working for nonlinear optimization. The corresponding MATLAB program is also designed. The results show that trust region method is an effective way to solve forward kinematics, and the program is stable, reliable and rapid. This method has small errors with linear precision of 10(-12) mm and rotational precision of 10(-15) deg. Using differential snail adjustment, monochromator chamber's attitude can reach a linear resolution of 5 mu m and a rotational resolution of 3 '', which entirely satisfies the practical requirements. (C) 2012 Elsevier B.V. All rights reserved.
收录类别	SCI
语种	英语
文献类型	期刊论文
条目标识符	http://ir.ciomp.ac.cn/handle/181722/24635
专题	中科院长春光机所知识产出
推荐引用方式 GB/T 7714	Lu Q. P.,Li Y. J.,Peng Z. Q.. Kinematics analysis of six-bar parallel mechanism and its applications in synchrotron radiation beamline[J]. Nuclear Instruments & Methods in Physics Research Section a-Accelerators Spectrometers Detectors and Associated Equipment,2012,674:8-14.
APA	Lu Q. P.,Li Y. J.,&Peng Z. Q..(2012).Kinematics analysis of six-bar parallel mechanism and its applications in synchrotron radiation beamline.Nuclear Instruments & Methods in Physics Research Section a-Accelerators Spectrometers Detectors and Associated Equipment,674,8-14.
MLA	Lu Q. P.,et al."Kinematics analysis of six-bar parallel mechanism and its applications in synchrotron radiation beamline".Nuclear Instruments & Methods in Physics Research Section a-Accelerators Spectrometers Detectors and Associated Equipment 674(2012):8-14.

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