Kinematics analysis and testing of novel 6-P-RR-R-RR parallel platform with offset RR-joints

doi:10.1177/0954406218817001

CIOMP OpenIR

	Kinematics analysis and testing of novel 6-P-RR-R-RR parallel platform with offset RR-joints
	H.Han; C.Y.Han; Z.B.Xu; M.C.Zhu; Y.Yu; Q.W.Wu
	2019
发表期刊	Proceedings of the Institution of Mechanical Engineers Part C-Journal of Mechanical Engineering Science
ISSN	0954-4062
卷号	233 期号:10 页码:3512-3530
摘要	This paper presents a novel six-degree-of-freedom (6-DOF) parallel platform that is used as the third mirror adjustment system of a large space telescope. In order to meet the design requirements of high precision, a large load-size ratio, and high stiffness in both the transverse and the vertical directions, the parallel platform is designed to be a 6-P-RR-R-RR structure via use of offset RR-joints. The inverse kinematics problem of the designed platform with offset RR-joints is much more complicated than that of a parallel platform with common universal joints owing to the presence of joint-dependent variables in the former problem. In this study, inverse kinematics of the designed parallel platform is mathematically modeled and the Newton-Raphson numerical iterative computation is performed. The accuracy and effectiveness of the proposed mathematical approach are verified by numerical co-simulations using MATLAB and ADAMS. The initial position of the platform is determined by a precision measuring arm. A test system is constructed, and then inverse kinematics solution, resolutions and adjusting steps accuracies of the platform are tested using grating length gauges. Motion strokes of the parallel mechanism are measured using laser tracker.
关键词	Parallel platform,Offset RR-joint,Inverse kinematics,6-P-RR-R-RR,kinematic chains,design,mechanism,manipulator
DOI	10.1177/0954406218817001
URL	查看原文
收录类别	SCI ; EI
语种	英语
引用统计	被引频次：20[WOS] [WOS记录] [WOS相关记录]
文献类型	期刊论文
条目标识符	http://ir.ciomp.ac.cn/handle/181722/63346
专题	中国科学院长春光学精密机械与物理研究所
推荐引用方式 GB/T 7714	H.Han,C.Y.Han,Z.B.Xu,et al. Kinematics analysis and testing of novel 6-P-RR-R-RR parallel platform with offset RR-joints[J]. Proceedings of the Institution of Mechanical Engineers Part C-Journal of Mechanical Engineering Science,2019,233(10):3512-3530.
APA	H.Han,C.Y.Han,Z.B.Xu,M.C.Zhu,Y.Yu,&Q.W.Wu.(2019).Kinematics analysis and testing of novel 6-P-RR-R-RR parallel platform with offset RR-joints.Proceedings of the Institution of Mechanical Engineers Part C-Journal of Mechanical Engineering Science,233(10),3512-3530.
MLA	H.Han,et al."Kinematics analysis and testing of novel 6-P-RR-R-RR parallel platform with offset RR-joints".Proceedings of the Institution of Mechanical Engineers Part C-Journal of Mechanical Engineering Science 233.10(2019):3512-3530.

条目包含的文件		下载所有文件
文件名称/大小	文献类型	版本类型	开放类型	使用许可
Kinematics analysis （3755KB）	期刊论文	出版稿	开放获取	CC BY-NC-SA	浏览下载