Kinematics Comparative Study of Two Overconstrained Parallel Manipulators

Qiang Yan, Bin Li, Yangmin Li and Xinhua Zhao

Mathematical Problems in Engineering, 2016, vol. 2016, 1-12

Abstract:

A comparison study of kinematics characteristics of two overconstrained 2-R P U&S P R parallel manipulators (PMs) is introduced in this paper. The two 2-R P U&S P R PMs have the same kinematics properties in terms of one translational degree of freedom (DOF) and two rotational DOFs kinematics outputs. But there are some differences between the two PMs as far as joints distribution is concerned, leading to the differences in respect of workspace and dexterity of the two PMs. Firstly, based on screw theory, the structural characteristics and DOFs of the two PMs are analyzed. Secondly, the inverse and forward displacements problems for the two PMs are formulated by analytic formulae. Some numerical examples are simulated by software. Thirdly, based on algorithm for the direct displacement solution, the workspace characteristics of the two PMs are analyzed and compared. Then, the Jacobian matrices of the mechanisms are formulated. Based on the Jacobian matrices, the dexterities of the two PMs are established and compared. Finally, according to the comparisons of the properties between the two PMs, some useful conclusions are provided.

Date: 2016
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Persistent link: https://EconPapers.repec.org/RePEc:hin:jnlmpe:5091405

DOI: 10.1155/2016/5091405

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