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Kinematics and statics analysis of a novel 4-dof 2SPS+2SPR parallel manipulator and solving its workspace

Published online by Cambridge University Press:  10 November 2008

Yi Lu ,
Ming Zhang ,
Yan Shi  and
JianPing Yu
Yi Lu*
Affiliation:
Robotics Research Centre, School of Mechanical Engineering, Yanshan University Qinhuangdao, Hebei, 066004, P. R. China
Ming Zhang
Affiliation:
Robotics Research Centre, School of Mechanical Engineering, Yanshan University Qinhuangdao, Hebei, 066004, P. R. China
Yan Shi
Affiliation:
Robotics Research Centre, School of Mechanical Engineering, Yanshan University Qinhuangdao, Hebei, 066004, P. R. China
JianPing Yu
Affiliation:
Robotics Research Centre, School of Mechanical Engineering, Yanshan University Qinhuangdao, Hebei, 066004, P. R. China
*
*Corresponding author. E-mail: luyi@ysu.edu.cn
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Summary

A novel 4-dof 2SPS+SPR parallel kinematic machine is proposed, and its kinematics, statics, and workspace are studied systematically. First, the geometric constrained equations are established, and the inverse displacement kinematics is analyzed. Second, the poses of active/constrained forces are determined, and the formulae for solving inverse/forward velocities are derived. Third, the formulae for solving inverse/forward accelerations are derived. Finally, a workspace is constructed and its active/constrained forces are solved. The analytic results are verified by its simulation mechanism to be consistent with the calculated ones.

Keywords

Parallel manipulatorKinematicsStaticsWorkspace
Type
Article
Information
Robotica , Volume 27 , Issue 5 , September 2009 , pp. 771 - 778
Copyright
Copyright © Cambridge University Press 2008

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