{"title":"3-DOF 2SPR+RPS并联机器人的运动学和静力学分析","authors":"Ningrong Zhang","doi":"10.1109/ACIRS.2019.8935955","DOIUrl":null,"url":null,"abstract":"Kinetostatic analysis of 3-DOF 2SPR+RPS parallel manipulator has been researched. Displacement analysis is given by matrix coordinate transformation method and the geometric constraint relations. The Jacobian/Hessian matrices are given, and some analytic formulas for solving the velocity and acceleration are derived. The static equilibrium equations are derived, active forces and constrained forces are solved corresponding to a given variation of pose parameters and external workload. The analytic results are calculated, the numerical examples are presented which are very useful for the kinematic performance of the parallel manipulator.","PeriodicalId":338050,"journal":{"name":"2019 4th Asia-Pacific Conference on Intelligent Robot Systems (ACIRS)","volume":"50 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2019-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"Kinematic and Static Analysis of a 3-DOF 2SPR+RPS Parallel Manipulator\",\"authors\":\"Ningrong Zhang\",\"doi\":\"10.1109/ACIRS.2019.8935955\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"Kinetostatic analysis of 3-DOF 2SPR+RPS parallel manipulator has been researched. Displacement analysis is given by matrix coordinate transformation method and the geometric constraint relations. The Jacobian/Hessian matrices are given, and some analytic formulas for solving the velocity and acceleration are derived. The static equilibrium equations are derived, active forces and constrained forces are solved corresponding to a given variation of pose parameters and external workload. The analytic results are calculated, the numerical examples are presented which are very useful for the kinematic performance of the parallel manipulator.\",\"PeriodicalId\":338050,\"journal\":{\"name\":\"2019 4th Asia-Pacific Conference on Intelligent Robot Systems (ACIRS)\",\"volume\":\"50 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2019-07-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2019 4th Asia-Pacific Conference on Intelligent Robot Systems (ACIRS)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/ACIRS.2019.8935955\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2019 4th Asia-Pacific Conference on Intelligent Robot Systems (ACIRS)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ACIRS.2019.8935955","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Kinematic and Static Analysis of a 3-DOF 2SPR+RPS Parallel Manipulator
Kinetostatic analysis of 3-DOF 2SPR+RPS parallel manipulator has been researched. Displacement analysis is given by matrix coordinate transformation method and the geometric constraint relations. The Jacobian/Hessian matrices are given, and some analytic formulas for solving the velocity and acceleration are derived. The static equilibrium equations are derived, active forces and constrained forces are solved corresponding to a given variation of pose parameters and external workload. The analytic results are calculated, the numerical examples are presented which are very useful for the kinematic performance of the parallel manipulator.
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