0
Research Papers: Mechanisms and Robotics

Synthesis and Analysis of Kinematics/Statics of a Novel 2SP̱S+SP̱R+SP Parallel Manipulator

[+] Author and Article Information
Yi Lu

Robotics Research Center School of Mechanical Engineering, Yanshan University Qinhuangdao, Hebei 066004, P.R.C.luyi@ysu.edu.cn

Yan Shi

Robotics Research Center School of Mechanical Engineering, Yanshan University Qinhuangdao, Hebei 066004, P.R.C.glhdouer@88mail.ysu.edu.cn

Shi-Hua Li

Robotics Research Center School of Mechanical Engineering, Yanshan University Qinhuangdao, Hebei 066004, P.R.C.shli@ysu.edu.cn

Xing-Bin Tian

Robotics Research Center School of Mechanical Engineering, Yanshan University Qinhuangdao, Hebei 066004, P.R.C.xbtian@ysu.edu.cn

J. Mech. Des 130(9), 092302 (Aug 11, 2008) (8 pages) doi:10.1115/1.2936897 History: Received March 28, 2007; Revised March 18, 2008; Published August 11, 2008

This paper proposes a systematic methodology for dimension synthesis, kinematics, and statics of a novel 2SP̱S+SP̱R+SP parallel manipulator with 3DOF. First, a workspace is varied and analyzed by varying the orientation of a revolute joint, and an optimum orientation of revolute joint is determined. Second, the inverse displacement is analyzed, and the formulas are derived for solving general inverse/forward velocities and accelerations. Third, the geometric constraints of constrained forces are determined and the formulas are derived for solving the active/constrained forces.

FIGURES IN THIS ARTICLE
<>
Copyright © 2008 by American Society of Mechanical Engineers
Your Session has timed out. Please sign back in to continue.

References

Figures

Grahic Jump Location
Figure 1

(a) A prototype of 2SP̱S+SP̱R+SP PKM with control system in which dof of spherical joint can be varied by adding constraint; (b) the kinematic model of 2SP̱S+SP̱R+SP PKM

Grahic Jump Location
Figure 2

A reachable workspace W of 2SP̱S+SP̱R+SP PKM as θ=0deg: (a) the isometric view; (b) the top view

Grahic Jump Location
Figure 3

A reachable workspace of 2SP̱S+SP̱R+SP PKM as θ=90deg: (a) the isometric view; (b) the top view

Grahic Jump Location
Figure 4

Force situation of the 2SP̱S+SP̱R+SP PKM

Grahic Jump Location
Figure 5

Solved results of 2SP̱S+SP̱R+SP PKM versus θ=90deg

Tables

Errata

Discussions

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 eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

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