0
RESEARCH PAPERS

# Using CAD Variation Geometry for Solving Velocity and Acceleration of Parallel Manipulators With 3-, 4-, 5-Linearly Driving Limbs

[+] Author and Article Information
Yi Lu

School of Mechanical Engineering, Yanshan University, Qinhuangdao Hebei, 066004, Chinaluyi@ysu.edu.cn

J. Mech. Des 128(4), 738-746 (Jul 25, 2005) (9 pages) doi:10.1115/1.2202147 History: Received April 24, 2005; Revised July 25, 2005

## Abstract

A novel CAD variation geometric approach is proposed for designing the computer $v-a$ (velocity-acceleration) simulation mechanisms of parallel manipulators with 3-, 4-, 5-linear driving limbs. Some common math foundations, computer aided geometry constraints, and dimension driving technique, and definitions for designing the velocity-acceleration simulation mechanism are presented. The $v-a$ simulation mechanisms of parallel manipulators with 3-, 4-, 5-linear driving limbs are created. When modifying the driving dimension of the driving limbs, the configurations of the $v-a$ simulation mechanisms are varied correspondingly, and the velocity, angular velocity, acceleration, and angular acceleration of the moving platform are solved automatically and visualized dynamically. The results show that the computer aided geometric approach is not only fairly quick and straightforward, but is also advantageous from viewpoint of accuracy and repeatability.

<>

## Figures

Figure 2

(a) Vector line in O-XYZ, (b) equilateral ternary, (c) quadrangle, and (d) pentagon link

Figure 3

(a) The equivalent SPS and (b) UPU driving limb r1i

Figure 4

(a) The 3SPR parallel manipulator and (b) its simulation mechanism

Figure 5

The v-a simulation mechanism of the 3SPR parallel manipulator

Figure 6

The v-a simulation mechanism of 3SPR parallel manipulator as r11=110, r12=100, r13=90cm

Figure 7

(a) The 3UPU parallel manipulator and (b) its simulation mechanism

Figure 8

The v-a simulation mechanism of the 3UPU parallel manipulator as δt=0.5 and 0.005s

Figure 9

The 2SPS+2UPU parallel manipulator and its simulation mechanism

Figure 10

The v-a simulation mechanism of the 2SPS+2UPU parallel manipulator as δt=0.5s (a) and δt=0.001s (b)

Figure 11

The 4SPS+SPR parallel manipulator with 5DOF (a) and its simulation mechanism (b)

Figure 12

The v-a simulation mechanism of the 4SPS+SPR parallel manipulator as δt=0.1s, 0.001s

Figure 1

The velocity and acceleration vectors of parallel manipulators at three positions

## Errata

Some tools below are only available to our subscribers or users with an online account.

### Related Content

Customize your page view by dragging and repositioning the boxes below.

Related Journal Articles
Related Proceedings Articles
Related eBook Content
Topic Collections

• TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
• EMAIL: asmedigitalcollection@asme.org