Research Papers

Kinematics Analysis of Some Linear Legs With Different Structures for Limited-DOF Parallel Manipulators

[+] Author and Article Information
Yi Lu1

College of Mechanical Engineering, Yanshan University, Qinhuangdao, Hebei 066004, P.R. Chinaluyi@ysu.edu.cn

Bo Hu

College of Mechanical Engineering, Yanshan University, Qinhuangdao, Hebei 066004, P.R. Chinahbz0001@yahoo.com.cn

Jianda Han

State Key Laboratory of Robotics, Shenyan Institute of Automation, Chinese Academy of Sciences, Shenyan, Liaoning 110016, P.R. Chinajdhan@sia.cn

Jianping Yu

College of Foreign Studies, Yanshan University, Qinhuangdao, Hebei 066004, P.R. Chinayjp@ysu.edu.cn


Corresponding author.

J. Mechanisms Robotics 3(1), 011005 (Nov 30, 2010) (8 pages) doi:10.1115/1.4002694 History: Received November 10, 2009; Revised September 19, 2010; Published November 30, 2010; Online November 30, 2010

To solve the velocity and acceleration of legs with different structures is a fundamental and challenging issue for dynamics analysis of parallel manipulators (PMs). In this paper, the kinematics of linear legs with different structures for limited-degree of freedom (DOF) PMs is studied. First, based on kinematics/statics of general limited-DOF PM, the formulas are derived for solving the angular velocity/acceleration of some linear legs with different structures. Second, the velocity and acceleration of the piston/cylinder in the legs are represented by velocity and acceleration of platform in PM. Finally, the solving procedures are illustrated by applying this approach to a 4DOF PM.

Copyright © 2011 by American Society of Mechanical Engineers
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Figure 1

A general PM with n linear active legs

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Figure 2

Some linear legs with different serial structure

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Figure 3

Kinematic model of linear leg with piston/cylinder

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Figure 4

A prototype of 2SPS+UPR PM

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Figure 5

Solved results of kinematics of legs of 2SPS+UPR PM




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