Kinematic analysis and testing of a 6-RRRPRR parallel manipulator

	Kinematic analysis and testing of a 6-RRRPRR parallel manipulator
	Yu, Y.; Z. B. Xu; Q. W. Wu; P. Yu; S. He and G. Q. Wang
	2017
发表期刊	Proceedings of the Institution of Mechanical Engineers Part C-Journal of Mechanical Engineering Science
卷号	231 期号:13
摘要	The Gough-Stewart platform has been successfully used in a wide variety of fields ranging from medical to automotive applications. This paper proposes a 6-RRRPRR parallel manipulator with orthogonal non-intersecting RR-joint configurations and ball screw actuators without guide mechanisms. A novel methodology is developed to define the dependent RR-joint variables and a numerical algorithm is employed to calculate the joint variables. The parasitic motion caused by the helical motion of the ball screw can be expressed and solved with vector method. The inverse kinematics of this manipulator can be solved. To verify the effectiveness of the proposed approach, simulations are performed with software package ADAMS. A prototype of this manipulator is manufactured. Its resolution, accuracy, and repeatability are measured. It is shown that the presented method is effective for this parallel manipulator.
收录类别	sci ; ei
语种	英语
文献类型	期刊论文
条目标识符	http://ir.ciomp.ac.cn/handle/181722/59403
专题	中科院长春光机所知识产出
推荐引用方式 GB/T 7714	Yu, Y.,Z. B. Xu,Q. W. Wu,et al. Kinematic analysis and testing of a 6-RRRPRR parallel manipulator[J]. Proceedings of the Institution of Mechanical Engineers Part C-Journal of Mechanical Engineering Science,2017,231(13).
APA	Yu, Y.,Z. B. Xu,Q. W. Wu,P. Yu,&S. He and G. Q. Wang.(2017).Kinematic analysis and testing of a 6-RRRPRR parallel manipulator.Proceedings of the Institution of Mechanical Engineers Part C-Journal of Mechanical Engineering Science,231(13).
MLA	Yu, Y.,et al."Kinematic analysis and testing of a 6-RRRPRR parallel manipulator".Proceedings of the Institution of Mechanical Engineers Part C-Journal of Mechanical Engineering Science 231.13(2017).

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