KINETICS ANALYSIS ON 2PPRR-ST-2PPRR MECHANISM
New type of 2PPRR-ST-2PPRR mechanism in singular configuration,kinetics equations and Eulers 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 ofjoints on upper layer platform only.
Hybrid Mechanism Singularity Kinetics Moving Platform Sensitivity
Luo Jianguo He Maoyan
Mechanical and Electrical Engineering Department, North China Institute of Science and Technology, E Labour Union, North China Institute of Science and Technology, East Surbub of Beijing,China,101601
国际会议
香港
英文
1001-1005
2012-12-11（万方平台首次上网日期，不代表论文的发表时间）