Kinetics Analysis on 2PPRR-ST-2PPRR Mechanism

Abstract:

New type of 2PPRR-ST-2PPRR mechanism in singular configuration,kinetics equations and Euler’s equations constructed,complete analysis of each jointed points of the moving platform carried out,inverse kinetics solution can be obtained with the given parameters,which include the position and orientation of the manipulator,applied force on the output shaft,parameters of motion of output shaft and connecting bar and sliding block,Newton-Euler method adopted to analysis its kinetics,program used to get the intuitionistic graph result of analysis,conclusion deduced from the result,difference exist in the changing rule of force of joints on upper layer platform and under layer platform,the changing rule of force of joints on the same platform is the same,sensitive exist in direction of axis x,y,z of force of joints on under layer platform,while sensitive exist in direction of axis z of force of joints on upper layer platform only.

• Periodical: Applied Mechanics and Materials (Volumes 271-272)
• Pages: 1001-1005
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.271-272.1001
• Online since: December 2012
• Authors: Jian Guo Luo, Mao Yan He
• Keywords: Hybrid Mechanism, Kinetic, Moving Platform, Sensitivity, Singularity

References

[1] Y. Li: submitted to Journal of Machine Design and Manufacturing Engineering(1999).

[2] S. N. Yu, N. Z. Ma: submitted to Journal of China Mechanical Engineering(2005).

[3] W. Zhao, J. J. Yu, and S. S. Bi: submitted to Journal of Beijing University of Aeronautics and Astronautics(2001).

[4] S. P. Yue,D. Z. Liu,S. L. Li: submitted to Journal of North China Institute of Technology (2004).

[5] S. J. Li,D. X. Li,T. G. Quan: submitted to Journal of Northeastern University(1996).

[6] J. G. Luo, Z. Lu: submitted to Journal of Journal of Machine Design and Research(2006).

[7] J. G. Luo,Z. Lu: submitted to Journal of Beijing University of Aeronautics and Astronautics (2007).

[8] J. G. Luo,Z. Lu: submitted to Journal of Chinese Journal of Mechanical Engineering(2007).

[9] Z. Huang, Spatial Mechanism(China Machine Press, Beijing, 1991).

[10] F. Li, R. D. Nan: submitted to Journal of Machinery(2003).

[11] F. Park, J. Kim: submitted to Journal of Mechanical Design(1999).

[12] J. J. Zhang,X. J. Liu: submitted to Journal of Chinese Journal of Mechanical Engineering (2002).

[13] H. Jiang, S. H. Jia,X. C. Wang: submitted to Journal of Mechanical Science and Technology (1999).