Kinematic Modeling and Stiffness Analysis of a 3-DOF 3SPS + 3PRS Parallel Manipulator
نویسندگان
چکیده
The driving mechanism of an axisymmetric vectoring exhaust nozzle (AVEN) is a 3-degrees-of-freedom (3-DOF) parallel manipulator (PM) with centering device. According to the characteristics nozzle’s movement mechanism, 3-DOF kinematics model 3SPS + 3PRS PM established. forward and inverse positional posture models are built based on architecture closed-loop vector method. Jacobian matrix Hessian derived using screw theory, velocity acceleration Based principle virtual work combined PM, stiffness was established analyze performance. Finally, effectiveness verified by simulation, variation performances quantitatively analyzed. results show that translational decreases axial translation moving platform rotational mainly determined parameters. This study expected offer ideas for kinematic modeling provide references application optimizing AVEN’s mechanism.
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ژورنال
عنوان ژورنال: Mathematics
سال: 2022
ISSN: ['2227-7390']
DOI: https://doi.org/10.3390/math10234465