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An approach for acceleration analysis of lower mobility parallel manipulators
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Liu, Haitao, Huang, T. (Tian) and Chetwynd, D. G. (Derek G.), 1948-. (2011) An approach for acceleration analysis of lower mobility parallel manipulators. Journal of Mechanisms and Robotics, Vol.3 (No.1). 011013. ISSN 19424302
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Official URL: http://dx.doi.org/10.1115/1.4003271
Abstract
This paper presents a new approach to the velocity and acceleration analyses of lower mobility parallel manipulators. Building on the definition of the "acceleration motor," the forward and inverse velocity and acceleration equations are formulated such that the relevant analyses can be integrated under a unified framework that is based on the generalized Jacobian. A new Hessian matrix of serial kinematic chains (or limbs) is developed in an explicit and compact form using Lie brackets. This idea is then extended to cover parallel manipulators by considering the loop closure constraints. A 3-(P) under bar RS parallel manipulator with coupled translational and rotational motion capabilities is analyzed to illustrate the generality and effectiveness of this approach. [DOI: 10.1115/1.4003271]
| Item Type: | Journal Article |
|---|---|
| Subjects: | Q Science > QA Mathematics T Technology > TJ Mechanical engineering and machinery |
| Divisions: | Faculty of Science > Engineering |
| Library of Congress Subject Headings (LCSH): | Manipulators (Mechanism), Acceleration (Mechanics), Machinery, Kinematics of, Screws, Theory of |
| Journal or Publication Title: | Journal of Mechanisms and Robotics |
| Publisher: | A S M E International |
| ISSN: | 19424302 |
| Date: | February 2011 |
| Volume: | Vol.3 |
| Number: | No.1 |
| Page Range: | 011013 |
| Identification Number: | 10.1115/1.4003271 |
| Status: | Peer Reviewed |
| Publication Status: | Published |
| Access rights to Published version: | Restricted or Subscription Access |
| Funder: | Guo jia zi ran ke xue ji jin wei yuan hui (China) [National Natural Science Foundation of China] (NSFC) |
| Grant number: | 50535010 (NSFC), 50775158 (NSFC) |
| URI: | http://wrap.warwick.ac.uk/id/eprint/39066 |
Data sourced from Thomson Reuters' Web of Knowledge
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