0
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

1

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.

FIGURES IN THIS ARTICLE
<>
Copyright © 2011 by American Society of Mechanical Engineers
Your Session has timed out. Please sign back in to continue.

References

Figures

Grahic Jump Location
Figure 1

A general PM with n linear active legs

Grahic Jump Location
Figure 2

Some linear legs with different serial structure

Grahic Jump Location
Figure 3

Kinematic model of linear leg with piston/cylinder

Grahic Jump Location
Figure 4

A prototype of 2SPS+UPR PM

Grahic Jump Location
Figure 5

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

Tables

Errata

Discussions

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related Journal Articles
Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In