Formulation of unified kinematics for overconstrained Schönflies parallel mechanism using vectorial algebra-Reference-Cited by-同舟云学术

Formulation of unified kinematics for overconstrained Schönflies parallel mechanism using vectorial algebra

Published:2022-05-21 Issue:17 Volume:236 Page:9558-9567
ISSN:0954-4062
Container-title:Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science
language:en
Short-container-title:Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science

Author:

Zhang Xing¹²^ORCID,Yang Mingxing¹²^ORCID,Mu Dejun³,Wang Hongrui⁴

Affiliation:

1. School of Mechanical Engineering, Anhui University of Technology, Maanshan, China

2. Anhui Province Key Laboratory of Special Heavy Load Robot, Anhui University of Technology, Maanshan, China

3. Key Lab of Parallel Robot and Mechatronic System, Yanshan University, Qinhuangdao

4. Key Lab of Industrial Computer Control Engineering of Hebei Province, Yanshan University, Qinhuangdao, China

Abstract

This study establishes unified kinematics of Schönflies parallel manipulators (PMs) considering the constraint matrix. Based on vectorial algebra, the kinematics of 4-RRRRR PM is solved using the geometric relation between the links, which solves the PM problem that the vector method could not solve using several kinematic pairs and links. First, the overall Jacobian and Hessian matrices of the Schönflies PM are derived. Then, a complex 4-RRRRR PM was selected and the inverse displacement analysis is performed using a new strategy. The 6 × 6 Jacobian and 6 × 6 × 6 Hessian matrices of the mechanism are deduced. Finally, the kinematics is derived and the results are used to demonstrate the proposed method.

Funder

National Natural Science Foundation of China

Publisher

SAGE Publications

Subject

Mechanical Engineering

Link

http://journals.sagepub.com/doi/pdf/10.1177/09544062221097878

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