Using Force/Torque Balance Equations and CAD Variable Geometric Approach for Solving Active Force and Passive Force of a 3UPU-I Spatial Parallel Manipulator

Abstract:

A CAD variation geometry approach and force/torque balance equations are proposed for solving active force and passive force of a 3-dof 3UPU-Ⅰspatial parallel manipulator. Some common math foundations, computer variation geometry techniques, and definitions are presented for designing F/T (force/torque) simulation mechanism based on simulation mechanism of the parallel manipulator. A force Jacobian matrix equation Gf can be derived from the balance equations of the manipulator, when modify the driving dimensions of active limbs, the configuration of the F/T simulation mechanisms are varied correspondingly, and a Matlab program is compiled for solving the active force and passive force the active forces.

• Periodical: Applied Mechanics and Materials (Volume 192)
• Pages: 139-143
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.192.139
• Online since: July 2012
• Authors: Yong Ye, Nan Liu
• Keywords: CAD Variable Geometric Approach, Force, Parallel Manipulator, Simulation Mechanism

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