Stability Analysis for a Planar PKM with the Capability of Self-Coordinating the Driving Forces
A 2-RPR/RP planar PKM is proposed and it has the advantage of decreasing the demand of controlling by its own configuration at the equilibrium position,namely,it owns the capability of keeping stable and self-coordinating the relationship between the actuations and the load.The stability of this mechanism is analyzed by using the theorem of Lagrange- Dirichlet to obtain the relationship among the stability,the position of the revolute joint and the direction of the load.The results of the simulation demonstrate the stability of the theoretical analysis based on phase planes and figures of potential energy.This manipulator offers a novel way to design a mechanism,in which parts of the controlling work are assigned to the manipulator itself by its own geometrical parameter so that only a little work remains to the control system.
PKM stability driving force distribution
Lingyu Kong Hao Wang Yong Zhao Genliang Chen Longhai Zhao
State Key Laboratory of Mechanical System and Vibration,Shanghai Jiao Tong University,Shanghai 20024 Shanghai Key Laboratory of Digital Manufacture for Thin-walled Structures,Shanghai Jiao Tong Univers
国际会议
天津
英文
1-7
2014-07-06（万方平台首次上网日期，不代表论文的发表时间）