Acceleration analysis of 6-RR-RP-RR parallel manipulator with offset hinges by means of a hybrid method

doi:10.1016/j.mechmachtheory.2021.104661

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	Acceleration analysis of 6-RR-RP-RR parallel manipulator with offset hinges by means of a hybrid method
	Y. Zhang; H. Han; H. Zhang; Z. B. Xu; Y. Xiong; K. Han and Y. B. Li
	2022
发表期刊	Mechanism and Machine Theory
ISSN	0094-114X
卷号	169 页码:18
摘要	In this work, the kinematics of a symmetrical hexapod parallel manipulator is investigated by means of Denavit-Hartenberg method and differential transformation method. When compared with a general Gough-Stewart platform, the limbs of the parallel manipulator are connected to the mobile and fixed platforms through offset hinges, rather than traditional spherical and universal hinges. Because the offset variable of the hinge axis are introduced by the offset hinge, the ki-nematics of the parallel manipulator studied becomes more complicated. The forward and inverse displacement analysis are approached by means of the Denavit-Hartenberg method. Then, the velocity and acceleration are analyzed using differential transformation method. The concise expression is obtained and can be easily translated into computer program. The derivation of acceleration analysis of the 6-RR-RP-RR parallel manipulator using the hybrid approach is novel in this research field. Finally, a numerical example is given and the numerical results are verified via co-simulation.
DOI	10.1016/j.mechmachtheory.2021.104661
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收录类别	sci ; ei
语种	英语
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文献类型	期刊论文
条目标识符	http://ir.ciomp.ac.cn/handle/181722/66378
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	Y. Zhang,H. Han,H. Zhang,et al. Acceleration analysis of 6-RR-RP-RR parallel manipulator with offset hinges by means of a hybrid method[J]. Mechanism and Machine Theory,2022,169:18.
APA	Y. Zhang,H. Han,H. Zhang,Z. B. Xu,Y. Xiong,&K. Han and Y. B. Li.(2022).Acceleration analysis of 6-RR-RP-RR parallel manipulator with offset hinges by means of a hybrid method.Mechanism and Machine Theory,169,18.
MLA	Y. Zhang,et al."Acceleration analysis of 6-RR-RP-RR parallel manipulator with offset hinges by means of a hybrid method".Mechanism and Machine Theory 169(2022):18.

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