Kinematics and Workspace Analysis of 3-RPP Parallel Mechanism

Xie, Zhi Jiang; Zhang, Jun; Liu, Xiaobo

doi:10.4028/www.scientific.net/amm.456.146

Cited by 1 publication

(1 citation statement)

References 3 publications

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“…From the perspective of the degrees of freedom, the movable platform in the 3-PSP parallel structure has a total of six degrees of freedom, its three degrees of freedom are constrained by three branch chains, and three degrees of freedom are in an unconstrained state. Therefore, during the movement of the movable platform, the three unconstrained degrees of freedom may have accompanying motion (Shao et al, 2015;Huang et al, 2010;Xie et al, 2018). Therefore, to analyze the inverse kinematics of the mechanism, the accompanying motion of the 3-PSP mechanism must be analyzed.…”

Section: Inverse Kinematics 321 Inverse Kinematics Of Parallel Mechanismmentioning

confidence: 99%

Kinematic analysis and experiments of the hybrid robot for the HTGR plugging weld

Chen

Gao

et al. 2023

Mechanical Engineering Journal

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To solve the problem of unmanned plugging weld for the steam generator in high temperature gas cooled reactor, a new seven-degrees-of-freedom robot with 3-PSP and SCARA structure is designed based on the scheme of serial-parallel robot. In order to achieve simple and stable motion control, the D-H method and analytical method are used to study its serial-parallel kinematics and establish an accurate kinematics model. Based on MATLAB software and existing kinematic models, the Monte Carlo method is introduced to analyze the position and posture accessibility of the robot which has redundant degrees of freedom, and the rationality of the institutional design is verified. To ensure the high precision performance of the robot, the positional accuracy of the prototype is tested and analyzed under the different operating conditions by means of the standardized robot performance tests. In addition, in order to ensure the quality of plugging weld, through the T22 base material for several groups of TIG welding process experiments and mechanical properties testing to determine the reliable plugging welding process parameters. The results show that the robot can meet the requirements of plugging welding, and has accurate motion control, good reachability, high position and posture accuracy and strong expandability.

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Section: Inverse Kinematics 321 Inverse Kinematics Of Parallel Mechanismmentioning

confidence: 99%