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Research Papers

Finite Element Method for Kinematic Analysis of Parallel Hip Joint Manipulator

[+] Author and Article Information
Gang Cheng

School of Mechanical and Electrical Engineering,
China University of Mining and Technology,
No. 1, University Road,
Xuzhou, Jiangsu 221116, China
e-mail: chg@cumt.edu.cn

Song-tao Wang

School of Mechanical and Electrical Engineering,
China University of Mining and Technology,
No. 1, University Road,
Xuzhou, Jiangsu 221116, China
e-mail: areord@163.com

De-hua Yang

National Astronomical Observatories,
Nanjing Institute of Astronomical
Optics and Technology,
Chinese Academy of Sciences,
No. 188, Bancang Street,
Nanjing, Jiangsu 210042, China
e-mail: ydh_tgs@163.com

Jian-hua Yang

School of Mechanical and Electrical Engineering,
China University of Mining and Technology,
No. 1, University Road,
Xuzhou, Jiangsu 221116, China
e-mail: yjh_cumt@163.com

1Corresponding author.

Contributed by the Design Engineering Division of ASME for publication in the JOURNAL OF MECHANISMS AND ROBOTICS. Manuscript received March 12, 2014; final manuscript received August 30, 2014; published online April 2, 2015. Assoc. Editor: Robert J. Wood.

J. Mechanisms Robotics 7(4), 041010 (Nov 01, 2015) (10 pages) Paper No: JMR-14-1052; doi: 10.1115/1.4028623 History: Received March 12, 2014; Revised August 30, 2014; Online April 02, 2015

This paper presents a finite element method (FEM) for the kinematic solution of parallel manipulators (PMs), and this approach is applied to analyze the kinematics of a parallel hip joint manipulator (PHJM). The analysis and simulation results indicate that FEM can get accurate results of the kinematics of the PHJM, and the solution process shows that using FEM can solve nonlinear and linear kinematic problems in the same mathematical framework, which provides a theory base for establishing integrated model among different parameter models of the PHJM.

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Figures

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Fig. 1

The PHJM: (a) the system of the PHJM and (b) the topology of the parallel PHJM

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Fig. 2

The discretization of the PHJM: (a) the discrete system of the PHJM and (b) c-bar unit

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Fig. 3

The movement laws of the moving platform: (a) the displacement of node 2, (b) the displacement of node 4, and (c) the displacement of node 6

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Fig. 4

The node displacement of the moving platform

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Fig. 5

The length of the driving rods

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Fig. 6

The coordinate of node 4

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Fig. 7

The forward position solution

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Fig. 8

The nodal velocity of the moving platform: (a) the velocity of node 2, (b) the velocity of node 4, and (c) the velocity of node 6

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Fig. 9

The velocity of the driving rods

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Fig. 10

The velocity of node 4

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Fig. 11

The velocity of the moving platform

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Fig. 12

The nodal acceleration of the moving platform: (a) the acceleration of node 2, (b) the acceleration of node 4, and (c) the acceleration of node 6

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Fig. 13

The acceleration of the driving rods

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Fig. 14

The acceleration of node 4

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Fig. 15

The acceleration of the moving platform

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