Papers by Keyword: Inverse Solution

Abstract: With the increase of welding thickness, Friction stir welding equipment (FSW) with traditional milling machine structure could not meet the requirements of stiffness which to support the huge axis load. Therefore, a FSW with serial-parallel mechanism based on 3-PRS platform was proposed. In order to complete real-time control and the actual and virtual axis control of the equipment, the positive solution and inverse solution (based on Newton-Euler method) of the FSW are analyzed. Then, based on the PA system, the open CNC of the equipment is designed, and the inverse kinematics and the numerical positive kinematics based on Newton-Euler method are embedded into the interpolation of NC system. According to the demand of the equipment, human-machiner interface (HMI) is developed to display the positions of actual and virtual axis for the equipment, and compiler and interpolation are designed. At the same time, online real-time 3D motion simulation is designed, space pose of spindle and whole for the equipment are deduced. In the paper, design method of CNC based on the serial-parallel mechanism is provided.

Abstract: Position equation of 3-RRC parallel mechanism is established and its position direct and inverse solution is solved. The mechanism rate equation is established and its kinematics analysis is done. The result shows that it is easier to solve the kinematics inverse solution of the parallel mechanism.

Abstract: The traditional large-scale marine propeller processing equipments have such disadvantages as single-surface machining, propeller blade vibration, poor stiffness, repeated clamping and long processing time. The method of double-cutter & double-surface symmetrical machining is proposed for large-scale marine propeller based on the parallel-serial mechanism. The processing method can overcome proposed disadvantages, and improve machining efficiency and accuracy. The structural design of the processing equipment is introduced and the coupling kinematics parameters of the parallel spindle platform are analyzed. The inverse kinematics solution and improved forward kinematics solution are discussed in detail. And the forward kinematics solution can solve a troublesome problem about the selection of good initial parameters. A simplified prototype is built to verify the solution method which could be used in the future actual application as a foundation.

Abstract: Delta mechanism with the smooth and flexible movement,reliable structure, is a kind of parallel mechanism.Through inversely solving the Delta mechanism space position is to set up a kind of equivalent relationship and through analysis of the mechanism is to solve the rotating angle of the hinge that is between connecting rods that are equivalents of three parallelograms,and the base platform.Through inverse solution of kinematics before building the whole mechanism,the range of the center in mobile platform can be found intuitively from graphics when it is satisfied with the restriction condition.According to requirements, the optimization of mechanical structure can be achieved.

Abstract: Put forward a kind of 2 dof parallel fixture. The moving platform of the fixture has two rotational degrees of freedom relative to the fixed platform. Do the institutional analysis and its degree of freedom calculation. Study the kinematics modeling method, and carry out an analysis on forward and inverse solutions of its positions. The new parallel fixture will have wide appli¬ca¬tion in the field of machining.

Abstract: The kinematics analysis is carried out on a kind of 3-urps parallel mechanism (pm) with 6-dof. The positional inverse solution and Jacobean matrixes which is used to analyze the dexterity of mechanism are derived. Condition number is used as evaluating indicator of dexterity in this article, and its’ three-dimensional graphs are drawn when this mechanism in different attitudes. It is indicated that dexterity of moving is excelled than the rotary movement’s for this pm. The optimum dexterity can be obtained in the center of mechanism’s workroom, which can be applied to further characteristic analysis and kinematic design of mechanisms.

Abstract: 5R joint manipulator kinematics model of position module is established, and according to the D-H method kinematical analyse of manipulator is processed, the space pose transformation matrix between adjacent rods of manipulator is established. The position equations of the manipulator is obtained and the Forward & Inverse solution of kinematics are got. The correctness of the forward & inverse solution are also verified through a engineering examples.

Abstract: This paper presents an approach to determination of acoustic admittances by solving inverse problem which is obtained from finite element modeling. The authors detail the inverse problem and its general eigen-function and introduce an optimization method to obtain boundary conditions by known geometries in a discrete domain and the lowest propagating frequencies and their corresponding attenuations. This method is practical because it only needs few eigen value information rather than full information of the eigen values. Comparison of acoustic experimental results and calculated results, which match well, is given to validate the method.

Abstract: This paper presents a novel, precision, maneuverable, 3-DOF translational parallel mechanism. The mechanism’s important feature is that all of the kinematic joints are the revolute joints. The paper derives the mechanism’s kinematic forward solution and inverse solution by using of coordinate transformation elimination method and vector method, and establishes proper kinematic modeling. Kinematic simulation is carried out by ADAMS virtual prototyping software. The operating data is obtained, it verifies the correctness of solving the forward and inverse solution, and solve the question of choices for many results during the theoretical solution. This technique can provide a useful tool in the design of kinematic trajectory of the parallel mechanism’s end-effector and the kinematic analysis of other parallel mechanism.

Abstract: This paper proposes a novel parallel mechanism named 3/3-RRRS, and gives a research of direct and inverse solutions to positions of this mechanism. The equations of direct and inverse solutions are proposed by using vector method , and the analytical solutions of the inverse solution are given .There are many factors which influence the workspace, The article analyzes the specific factors that influence the workspace by using the software ADAMS, the workspace will function as a target for agencies to optimize the parameters.