A novel CAD geometric variation approach for solving active-passive forces of some parallel manipulators with SPR-type active legs is proposed. First, some methodical formulae for solving the active/constrained force matrix and active/constrained forces are derived. Second, some basic techniques for constructing the force simulation mechanism are described for solving the force matrix and active/constrained forces. Third, a 3SPR, a 2SPS+2SPR, and a 4SPS+SPR parallel manipulators are presented, respectively, to illustrate how to solve their pose parameters, active/constrained force matrices, and active/constrained forces by the approach. The solving results have been verified by the analytic approach.
- Design Engineering Division and Computers and Information in Engineering Division
A CAD Variation Geometric Approach of Solving Active/Constrained Forces of Some Parallel Manipulators With SPR-Type Active Legs
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Lu, Y, Shi, Y, & Hu, B. "A CAD Variation Geometric Approach of Solving Active/Constrained Forces of Some Parallel Manipulators With SPR-Type Active Legs." Proceedings of the ASME 2007 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. Volume 8: 31st Mechanisms and Robotics Conference, Parts A and B. Las Vegas, Nevada, USA. September 4–7, 2007. pp. 839-845. ASME. https://doi.org/10.1115/DETC2007-34308
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