Kinematic Analysis of A Novel 5-DOF Parallel Mechanism
In this paper,a novel 5UPS-RPS 5-dof parallel mechanism with five UPS-type active legs and one RPS-type constraint leg is proposed,and its kinematics and statics are studied systematically.First,a prototype of this PM is constructed and the dof of this PM is analyzed.Second,analytic formulas for solving the inverse displacement kinematics are derived.Third,the velocity Jacobian matrix and Hessian matrix are derived and analytic formulas for solving the velocities and accelerations of this PM are derived systematically.Finally,an analytic example is given for solving the length,velocity and acceleration of the active legs.
parallel mechanism screw theory inverse kinematics Jacobian matrix
Jie Huang Xuelei Wang Dongjie Zhao Honghong Guo Yunlong San Shulin Hou
College of Engineering,China Agricultural University,Beijing,China
国际会议
重庆
英文
941-945
2017-03-25（万方平台首次上网日期，不代表论文的发表时间）