Rigid Dynamic Model and Analysis of 5-DOF Parallel Mechanism

Chen, Xiulong; Liang, Xiaoxia; Deng, Yu; Wang, Qing

doi:10.5772/61040

Cited by 7 publications

(3 citation statements)

References 16 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…In recent years, due to fewer driving elements, lower cost, and more compact structure, lower-mobility parallel mechanisms have shown great potential for application, and have has gradually attracted the attention of scholars both at home and abroad [8].…”

Section: Discussionmentioning

confidence: 99%

The space distribution and transfer of positioning errors from actuators to the TCP point of parallel mechanism

et al. 2018

View full text Add to dashboard Cite

Abstract. The article deals with the analysis of the transfer and distribution of inaccuracies from actuators to the position of the point TCP on one of these machines. The real functional model of the mechanism was developed at the authors' workplace. The analyses of the workspace were carried out on CAD model. The results should be used for simulation of mechanism's behaviour, structural optimization as well as for generating of control algorithms for real functional prototype.

show abstract

Section: Discussionmentioning

confidence: 99%

The space distribution and transfer of positioning errors from actuators to the TCP point of parallel mechanism

et al. 2018

View full text Add to dashboard Cite

show abstract

“…Gert F et al [19] have studied the forward kinematics and inverse kinematics of 4-SPRR-SPR parallel mechanism with five degrees of freedom and the causes of vibration when the mechanism works. Xiulong Chen et al [20] proposed a new 4-UPS-RPS space parallel mechanism, which can achieve three degrees of freedom of rotation and two degrees of freedom of translation. The rigid body dynamic model of parallel mechanism is established and analyzed.…”

Section: Introductionmentioning

confidence: 99%

Kinematic Analysis and Verification of a New 5-DOF Parallel Mechanism

2021

View full text Add to dashboard Cite

This paper first designs a new 5-DOF parallel mechanism with 5PUS-UPU, and then analyses its DOF by traditional Grubler–Kutzbach and motion spiral theory. It theoretically shows that the mechanism meets the requirement of five dimensions of freedoms including three-dimensional movement and two-dimensional rotation. Based on this, the real mechanism is built, but unfortunately it is found unstable in some positions. Grassmann line geometry method is applied to analyze its unstable problem caused by singular posture, and then an improving method is put forward to solve it. With the improved mechanism, closed loop vector method is employed to establish the inverse position equation of the parallel mechanism, and kinematics analysis is carried out to get the mapping relationships between position, speed, and acceleration of moving and fixed platform. Monte Carlo method is used to analyze the workspace of the mechanism, to explore the influencing factors of workspace, and then to get the better workspace. Finally, an experiment is designed to verify the mechanism working performance.

show abstract

“…The virtual work principle method is an efficient approach for the dynamic modeling of the parallel robot [23]. Its advantages include less redundant information, concise representations, and high computational efficiency [24].…”

Section: Introductionmentioning

confidence: 99%