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TECHNICAL BRIEFS

Solving Driving Forces of 2(3-SPR) Serial-Parallel Manipulator by CAD Variation Geometry Approach

Yi Lu and Bo Hu
[+] Author and Article Information
Yi Lu

Robotics Research Center, College of Mechanical Engineering, Yanshan University, Qinhuangdao, Hebei, 066004, People’s Republic of Chinaluyi@ysu.edu.cn

Bo Hu

Robotics Research Center, College of Mechanical Engineering, Yanshan University, Qinhuangdao, Hebei, 066004, People’s Republic of China

J. Mech. Des 128(6), 1349-1351 (Jan 17, 2006) (3 pages) doi:10.1115/1.2338577 History: Received August 05, 2005; Revised January 17, 2006

A novel 2(3-SPR) serial-parallel manipulator is proposed. A novel approach for solving driving forces of the 2(3-SPR) parallel manipulator is proposed by using the virtual work theory and the computer aided design variation geometry. The solving procedure of this method is divided into following steps: First, constitute an initial simulation mechanism by using link dimension chains and driving dimensions of driving limbs; and then constitute a workloads simulation mechanism by using central force and central torque on initial simulation mechanism; finally constitute the force/torque simulation mechanism by giving a virtual displacement to one of the driving limbs, so that the virtual displacement about force and torque can be drawn, the driven force of this driven limb can be calculated by using the virtual work theory. In the same way, the others driven forces can be gotten.

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Copyright © 2006 by American Society of Mechanical Engineers
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Figures

Grahic Jump Location
Figure 1

A simulation mechanism of 2(3-SPR) parallel manipulator

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Figure 2

The solving results of F∕T simulation mechanism of 2(3-SPR) parallel manipulator

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Figure 3

The F∕T simulation mechanism of 2(3-SPR) parallel manipulator when δr=10cm

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Figure 4

The precision F∕T simulation mechanism of 2(3-SPR) parallel manipulator as δr=0.01cm

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