Finite Element Method for Kinematic Analysis of Parallel Hip Joint Manipulator-Reference-Cited by-同舟云学术

Finite Element Method for Kinematic Analysis of Parallel Hip Joint Manipulator

Published:2015-11-01 Issue:4 Volume:7 Page:
ISSN:1942-4302
Container-title:Journal of Mechanisms and Robotics
language:en
Short-container-title:

Author:

Cheng Gang¹,Wang Song-tao¹,Yang De-hua²,Yang Jian-hua¹

Affiliation:

1. School of Mechanical and Electrical Engineering, China University of Mining and Technology, No. 1, University Road, Xuzhou, Jiangsu 221116, China e-mail:

2. National Astronomical Observatories, Nanjing Institute of Astronomical Optics and Technology, Chinese Academy of Sciences, No. 188, Bancang Street, Nanjing, Jiangsu 210042, China e-mail:

Abstract

This paper presents a finite element method (FEM) for the kinematic solution of parallel manipulators (PMs), and this approach is applied to analyze the kinematics of a parallel hip joint manipulator (PHJM). The analysis and simulation results indicate that FEM can get accurate results of the kinematics of the PHJM, and the solution process shows that using FEM can solve nonlinear and linear kinematic problems in the same mathematical framework, which provides a theory base for establishing integrated model among different parameter models of the PHJM.

Publisher

ASME International

Subject

Mechanical Engineering

Link

http://asmedigitalcollection.asme.org/mechanismsrobotics/article-pdf/doi/10.1115/1.4028623/6253446/jmr_007_04_041010.pdf

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