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Forward position analysis is one of the importantand difficult issues in the kinematic analysis of paral-lel manipulators and has been extensively investiga-ted[1—3]. Most of the approaches for solving forwardposition problems of parallel manipulators with six de-grees of freedom (6-DOF), the Stewart platform forinstance, can be classified into two categories, i.e.closed-form analytical method using polynomial ap-proach and numerical method using iterative algo-rithm. Although the polynomial… 相似文献
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According to the definition of the new hypothetical states which have obvious physical sig-nificance and are termed as no-gravity static and accelerated states, a method for exact computa-tion of the parallel robot's generalized inertia matrix is presented. Based on the matrix theory, the generalized inertia matrix of the parallel robot can be computed on the assumption that the robot is in these new hypothetical states respectively. The approach is demonstrated by the Delta robot as an example. Based on the principle of the virtual work, the inverse dynamics model of the robot is formulized after the kinematics analysis. Finally, a numerical example is given and the element dis-tribution of the Delta robot's inertia matrix in the workspace is studied. The method has computational advantage of numerical accuracy for the Delta robot and can be parallelized easily. 相似文献
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This paper presents the evolution process of pressure angles from planar parallel mechanisms to spatial parallel mechanisms. Manipulability and condition number, which are frequently used in the optimum design of parallel mechanisms, are introduced from serial robots at first. Then, both theoretical analysis and practical experiences demonstrate that these concepts seem imperfect when they are used in parallel mechanisms. For this reason, this paper introduces the pressure angles in planar 4-bar mechanisms to spatial parallel mechanisms, which include redundant parallel mechanisms. Two kinds of pressure angles extracted from the determinant of direct and indirect Jacobian matrices are investigated. Moreover, two comprehensive and visible global performance indices are defined, showing the advantages in evaluating the workspace, singularity and motion/force transmission capabilities. With a 2-DOF planar and a 3-DOF spatial parallel mechanism as examples, the application of the performance indices is investigated and compared with the condition number at last. The proposed concept can be extended to other spatial parallel mechanisms. 相似文献
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