Author:
Lu Yi,Shi Yan,Yu Jianping
Abstract
SUMMARYThis paper proposes an approach for solving the velocity and acceleration of the limited-dof (dof n < 6) parallel kinematic machines with linear active legs by means of translational/rotational Jacobian and Hessian matrices. First, based on the established or derived constraint and displacement equations, the translational/rotational Jacobian and Hessian matrices are derived. Second, the formulae for solving inverse/forward velocities and accelerations are derived from translational and rotational Jacobian/Hessian matrices. Third, a 2SPR + UPU PKM and a 2SPS + RPRR PKM are illustrated for explaining how to use this method. This approach is simple because it needs neither to eliminate 6-n rows of an n × 6 Jacobian matrix nor to determine the screw or pose of the constrained wrench.
Publisher
Cambridge University Press (CUP)
Subject
Computer Science Applications,General Mathematics,Software,Control and Systems Engineering
Cited by
9 articles.
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