Kinematics, statics and stiffness Analysis of n(4-Sps+sp) S-PM

نویسندگان

  • Bo Hu
  • Shan Zhuang
  • Yi Lu
  • Chunping Sui
  • Jianda Han
  • Jingjing Yu
چکیده

A novel n(4-SPS+SP) serial-parallel manipulator (S-PM) formed by n 4-SPS+SP PMs with four degrees of freedom (DOF) connected in series is proposed in this paper. The kinematics , statics and stiffness modeJ of this seriaJ-PM is established. First , the forward kinematics of 4-SPS十SP (spherical jo口比-prismatic joint-revoJute十spherical joint-prismatic joint) PM is d 由er引l口附飞 SPS+SP) S-PM i 比s s 民tu 时di陀ed c ∞O 口mbined w 炕讪讪 h the kinematics resuJt of single 4-SPS+SP PM. Second , the statics, deformation and stiffness of n(4-SPS十SP) S-PM are studied. Finally, a口 analytically soJved example is given for 3(4-SPS+SP) formed by three 4-SPS十SP PMs The method for this mechanism is fit for other S-PMs

برای دانلود متن کامل این مقاله و بیش از 32 میلیون مقاله دیگر ابتدا ثبت نام کنید

ثبت نام

اگر عضو سایت هستید لطفا وارد حساب کاربری خود شوید

منابع مشابه

Kinematics and statics analysis of a novel 5-DoF parallel manipulator with two composite rotational/linear active legs

A novel 5-DoF parallel manipulator (PM) with two composite rotational/linear active legs is proposed and its kinematics and statics are studied systematically. First, a prototype of this PM is constructed and its displacement is analyzed. Second, the formulas are derived for solving the linear/angular velocity and acceleration of UPS composite active leg. Third, the Jacobian and Hessian matrice...

متن کامل

Analyses of Inverse Kinematics, Statics and Workspace of a Novel 3RPS- 3SPR Serial-Parallel Manipulator

A novel 3RPS-3SPR serial-parallel manipulator (S-PM) with 6 degree of freedoms (DOFs) is proposed in this paper. It includes a lower 3RPS parallel manipulator (PM) and an upper 3SPR PM. Its inverse kinematics, active forces and workspace are solved. First, the inverse displacement is solved in close form based on the geometrical and the dimensional constraints of this S-PM. Second, the 9×9 and ...

متن کامل

The effects of functional electrical stimulation on walking in hereditary and spontaneous spastic paraparesis.

OBJECTIVES  To investigate in people with spastic paraparesis (SP): 1) the factors contributing to foot drop and reduced toe clearance while walking; 2) short-term effects of bilateral functional electrical stimulation (FES) of the common peroneal nerve. MATERIALS AND METHODS  Long term (>0.5 years) users of FES with SP were compared to matched controls (N = 11 per group). Ankle strength and ...

متن کامل

Extended Finite Element Method for Statics and Vibration Analyses on Cracked Bars and Beams

In this paper, the extended finite element method (XFEM) is employed to investigate the statics and vibration problems of cracked isotropic bars and beams. Three kinds of elements namely the standard, the blended and the enriched elements are utilized to discretize the structure and model cracks. Two techniques referred as the increase of the number of Gauss integration points and the rectangle...

متن کامل

Design and Kinematic Analysis of a 4-DOF Serial-Parallel Manipulator for a Driving Simulator

This paper presents the kinematic analysis and the development of a 4-degree-of-freedom serial-parallel mechanism for large commercial vehicle driving simulators. The degrees of freedom are selected according to the target maneuvers and the structure of human motion perception organs. Several kinematic properties of parallel part of the mechanism under study are investigated, including the inve...

متن کامل

ذخیره در منابع من

ذخیره در منابع من قبلا به منابع من ذحیره شده

{@ msg_add @}


  با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید

برای دانلود متن کامل این مقاله و بیش از 32 میلیون مقاله دیگر ابتدا ثبت نام کنید

ثبت نام

اگر عضو سایت هستید لطفا وارد حساب کاربری خود شوید

عنوان ژورنال:
  • I. J. Robotics and Automation

دوره 27  شماره 

صفحات  -

تاریخ انتشار 2012