Papers by Keyword: Screw Theory

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Authors: Ji Man Luo, Guang Qi Cai, X. Chen, B.J. Yang, W. Huang
Abstract: In this paper, based on some disciplinarians about the configuration design of Parallel Robot Mechanisms (PRM), the theory bases was established for parallel structural configuration design by developing different types of the partly degrees of freedom (DOF) parallel configuration designs. The new method to synthesize the partly DOF parallel mechanisms, called constraint accession, is provided to the classification of kinematical chains by use of screw theory. The active kinematical chains control the necessary DOF and the passive kinematical chains control the needless ones. In this paper, the relevant active and passive kinematical chains are put forward and the constraint chains are classified in detail. It is demonstrated by an example that new configurations can be obtained by assembling different kinematical limbs.
Authors: Xing Qiang Tan, Zhi Jiang Xie, Guo Yun Li
Abstract: A new kind of parallel mechanism used for faster response and higher maneuverability test of wind tunnel is introduced. Based on static equilibrium analysis and screw theory, the static equilibrium equation of motion platform is established, and then kinematic Jaccobian matrix is achieved by use of force Jaccobian matrix. By means of kinematic Jaccobian matrix the singularity of 6_PUS parallel mechanism is analyzed and three kinds of singularity and their conditions are identified.
Authors: Yu Lei Hou, Da Xing Zeng, Zhan Ye Zhang, Chang Mei Wang, Xin Zhe Hu
Abstract: In the field of spatial orientation, the rotational parallel mechanism is widely used. While the existence of coupling brings about the parallel mechanism some difficulties in kinematics and dynamic analysis, the development of control system, and so on. This condition restricts the application fields and effects of the rotational parallel mechanism. Therefore, this paper proposes a novel 2-DOF (two degrees of freedom) rotational DPM (decoupled parallel mechanism). The feature of the mechanism is described and their movement form is analyzed with screw theory. The proposition of the novel rotational DPM will enrich the configurations of the parallel mechanism, and the contents of this paper should be useful for the further research and application of the rotational parallel mechanism.
Authors: Da Chang Zhu, Yan Ping Feng
Abstract: A new approach of structure synthesis of 3-DoF compliant parallel manipulators with flexure hinge is proposed in this paper. Based on characteristics of flexure hinge and topology optimal method, the kinematics of the 3-DOF perpendicular compliant parallel manipulator with flexure hinge and its control system are developed. The parallel manipulator is driven by three piezoelectric actuators and the three actuators in this mechanism are arranged according to the Cartesian coordinate system. Experiments are conducted to give some validation of the theoretical analysis.
Authors: De Hai Chen, Fan Xiao, Da Chang Zhu, Qi Hua Gu
Abstract: Analyse of automatic leveling system parallel support mechanism by the screw theory .Using software of Adams to analysis the mechanism kinematics and dynamics. Analyse the kinetic characteristics to verify whether it can meet the automatic leveling system dynamics and kinematics of the requirements.
Authors: Hong Jun San, Yuan Ming Wang, Jian Xiong Liu
Abstract: A novel 3SPS/UP spatial 3-DOF parallel mechanism is studied. The studied mechanism is composed of a moving platform connected to a fixed platform by means of four actuated limbs. The three of the four limbs are SPS serial manipulators and the other one is UP serial manipulator. Each SPS limb consists of a spherical pair S connecting to the fixed platform, a prismatic pair P, and another spherical pair S connecting to the moving platform. The UP limb consists of eight Hoke joints U and a prismatic pair P. One side of the UP limb is connected to the fixed platform by Hoke joints U and another side is fixed to the moving platform. Moving character of this mechanism are analyzed by using the theory of screws. The moving platform of this mechanism have three translational DOFs
Authors: Zhi Lan, Zhen Liang Li, Ya Li
Abstract: A novel 5-DOF rehabilitation robot for upper limb, which can implement single joint and multi-joint complex motions and provide activities of daily living (ADL) training for hemiplegic patients, was presented. Based on the method of screw theory, the rehabilitation robot’s kinematics model was set up according to the 5-DOF rehabilitation robot for upper limb. For the kinematics model set up by the method of screw theory, the inverse kinematics calculation was realized by using Paden-Kahan sub-problem method and algebraic elimination method, and the result of explicit solution was given. It offered reliance for the actual intellectual control of the position and speed about the rehabilitation robot.
Authors: Xu Wei Guo, Z.X. Wang, L.Q. Wang
Abstract: A design process of PMT virtual conceptual design is put forward, and a design platform of PKM virtual prototype is developed based on ADAMS; By analyzing topological structure and classifying the functional module of the existing PMTs, a modular component base are built. The management of component base and virtual assembly of PMT are realized. A method to analyze kinematic properties of parallel mechanism is introduced by taking screw theory as guidance and taking virtual prototype technology as verifying tool. With the method, DOFs of parallel mechanism are vividly depicted and rationalities of actuation scheme are judged.
Authors: Da Chang Zhu, Fan Xiao, Liang Wang, Qi Hua Gu
Abstract: Based on the screw theory,the paper presents a systematic method for structural synthesis of the two rotations and one translation parallel robot.According to the reciprocal product between kinetic screw and constrainted screw in screw theory.This method firstly creats possible branch structures and then generates diferent models of mechanism.By this method,the paper carries on the structural synthesis of the two rotations and one translation parallel robot,and also lists some of the mechanisms including a few new ones. Analyzsis solution of direct and inverse position.The dynamic simulation was conducted using the software of Adams.
Authors: Jing Tao Lei
Abstract: This paper presented model-based integrated design technology for configuration design of modular 3-PRS parallel robot. The kinematics screws matrix and constraint screws matrix of the end effector were obtained based on screw theory, the constraints of the end effector were analyzed and the degree of freedom of the robot can be determined. The forward kinematics of the parallel robot was analyzed according to the geometric relationship of a kinematics chain. Three-dimension solid model of the parallel robot was designed. Afterwards, the co-simulation of the mechanical and control system of the parallel robot was studied by applying virtual prototype technology to optimize the parameters of mechanical structure and control system. The simulation results of kinematics and dynamics can be obtained, which will offer basis for developing the prototype system.
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