检索结果-南通市图书馆

Cusp points and assembly changing motions in the PRR-PR-PRR planar parallel manipulator

机械工程前沿:英文版 2023年第2期18卷 177-187页

作者： Chengwei SHEN Jingjun YU Xu PEI School of Mechanical Engineering&Automation Beihang UniversityBeijing 100191China

Most parallel manipulators have multiple solutions to the direct kinematic *** ability to perform assembly changing motions has received the attention of a few *** points play an important role in the kinematic *** study investigates the cusp points and assembly changing motions in a two degrees of freedom planar parallel *** direct kinematic problem of the manipulator yields a quartic polynomial *** root in the equation determines the assembly configuration,and four solutions are obtained for a given set of actuated joint *** regarding the discriminant of the repeated roots of the quartic equation as an implicit function of two actuated joint coordinates,the direct kinematic singularity loci in the joint space are determined by the implicit *** points are then obtained by the intersection of a quadratic curve and a cubic *** assembly changing motions by encircling different cusp points are highlighted,for each pair of solutions with the same sign of the determinants of the direct Jacobian matrices.

关键词： planar parallel manipulator assembly changing motions cusp points quartic polynomial discriminant of repeated roots

来源：

维普期刊数据库

同方期刊数据库评论

在线全文

学校读者我要写书评

暂无评论

Optimal Kinematic Design of a 2-DOF planar parallel manipulator

引用

Tsinghua Science and Technology 2007年第3期12卷 269-275页

作者：吴军李铁民刘辛军王立平 Institute of Manufacturing Engineering Department of Precision Instruments and MechanologyTsinghua University

Closed-form solutions were developed to optimize kinematics design of a 2-degree-of-freedom （2- DOF） planar parallel manipulator. The optimum design based on the workspace was presented. Meanwhile, a global, comprehensive conditioning index was introduced to evaluate the kinematic designs. The optimal parallel manipulator is incorporated into a 5-DOF hybrid machine tool which includes a 2-DOF rotational milling head and a long movement worktable. The results show that the planar parallel manipulator-based machine tool can be successfully used to machine blades and guide vanes for a hydraulic turbine.

关键词： planar parallel manipulator global conditioning index hybrid machine too

来源：

维普期刊数据库

同方期刊数据库评论

在线全文

学校读者我要写书评

暂无评论

Determination of Dexterous Workspace of planar 3-DOF parallel manipulator by Auxiliary Linkages

Determination of Dexterous Workspace of Planar 3-DOF Paralle...

引用

第十一届IFTOMM世界大会

作者： Zhaohui Lan Zhonghe Ye Mechanical Engineering Department Fuzhou University Fuzhou 350002 China

＜正＞The dexterous workspace is of significant importance rous workspace of a planar 3-DOF parallel manipulator, the auxiliary linkages are constructed with the reference point of the moving platform as the fixed hinge. If the reference point lies in the dexterous workspace, the moving platform should be able to rotate around the reference point by the definition of the dexterous workspace and the platform becomes the crank in the auxiliary linkage. By the Grashof criteria for the auxiliary linkages, the conditions for the reference point to lie in the dexterous workspace are derived and the boundary of the dexterous workspace can then be drawn in a simple graphical method. Different examples are given to verify the effectiveness of the method and the possible separation of the dexterous workspace is analyzed.

关键词： planar parallel manipulator Dexterous wo Auxiliary linkage

来源： cnki会议评论

在线全文

cnki会议

学校读者我要写书评

暂无评论

欢迎您,

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

在线全文

在线全文

在线全文

请选择保存的检索档案：

请选择收藏分类：

通借通还

欢迎您,

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

在线全文

在线全文

在线全文

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：