Kinetostatic Modeling of N-DOF Parallel Mechanisms With a Passive Constraining Leg and Prismatic Actuators-Reference-Cited by-同舟云学术

Kinetostatic Modeling of N-DOF Parallel Mechanisms With a Passive Constraining Leg and Prismatic Actuators

Published:2000-01-01 Issue:3 Volume:123 Page:375-381
ISSN:1050-0472
Container-title:Journal of Mechanical Design
language:en
Short-container-title:

Author:

Zhang Dan¹,Gosselin Cle´ment M.¹

Affiliation:

1. De´partement de Ge´nie Me´canique Universite´ Laval Que´bec, Que´bec, Canada, G1K 7P4

Abstract

This paper introduces several new types of parallel mechanisms with prismatic actuators whose degree of freedom is dependent on a constraining passive leg connecting the base and the platform. A general kinetostatic model is established for the analysis of the structural rigidity and accuracy of this family of mechanisms. The geometric model of this class of mechanisms is first introduced. Then, a lumped kinetostatic model is proposed in order to account for joint and link compliances. Additionally, the inverse kinematics and velocity equations are given for both rigid-link and flexible-link mechanisms. Finally, a few examples are given to illustrate the results.

Publisher

ASME International

Subject

Computer Graphics and Computer-Aided Design,Computer Science Applications,Mechanical Engineering,Mechanics of Materials

Link

http://asmedigitalcollection.asme.org/mechanicaldesign/article-pdf/123/3/375/5499779/375_1.pdf

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