Full-Text Search:
Home|Journal Papers|About CNKI|User Service|FAQ|Contact Us|中文
《Journal of Beijing University of Aeronautics and Astronautics》 2002-03
Add to Favorite Get Latest Update

Method to Get the Forward Solution of a 6-SPS Parallel Manipulator Based on Position Tracking Principle

HAN Xian guo CHEN Wu yi CHEN Ding chang (Beijing University of Aeronautics and Astronautics, School of Mechanical Engineering and Automation)  
A predictor corrector method to get the forward solution of a 6 SPS parallel manipulator was presented based on the principle of position tracking. By solving the initial value problem of the positional differential equation of the parallel manipulator, not only the position of platform can be determined when the lengths of six legs were specified, but also the transition positions between the two specified leg lengths can be determined. Effectiveness and speediness of the proposed method was demonstrated by simulation results.
【Fund】: 国家自然科学基金资助项目 (5 9875 0 0 4) ;; 航空科学基金资助项目 (99H5 112 4)
【CateGory Index】: TH112
Download(CAJ format) Download(PDF format)
CAJViewer7.0 supports all the CNKI file formats; AdobeReader only supports the PDF format.
【References】
Chinese Journal Full-text Database 5 Hits
1 LI Xin-you,CHEN Wu-yi(School of Mechanical Engineering and Automation,Beihang University,Beijing 100191,China);Detection of pose errors for a rigid body based on singular value decomposition method[J];Computer Integrated Manufacturing Systems;2011-09
2 SUN Yong-sheng1,2,HAN Xian-guo1,CHEN Wu-yi1,XIONG Jun1,ZHANG Yi-gang2(1.School of Mechanism,Beihang University,Beijing 100191,China; 2.Troops 95989,Chinese PLA,Beijing 100076,China);High efficient approach of direct problem with extensive convergence on parallel mechanism[J];Computer Integrated Manufacturing Systems;2012-05
3 Sha Jingjing1,Chen Zhiping2,Shi Huli2,3,Lü Xingrong2(1 Jiangsu College of Information Technology,Wuxi 214061;2 Hangzhou University of Electronics,Hangzhou 310018;3 National Astronomical Observatory,Beijing 100012);Displacement Analysis and Arithmetic Realization of a Flyer Using Wire Mechanism[J];Mechanical Science and Technology for Aerospace Engineering;2007-06
4 HUANG Xiguang~1 LIAO Qizheng~2 WEI Shimin~2 LI Duanlin~2 1.School of Mechanical and Electrical Engineering,North China University of Technology,Beijing 100041; 2.School of Automation,Beijing University of Posts and Telecommunications,Beijing 100876;Forward Kinematics Analysis of the General 6-6 Platform Parallel Mechanism Based on Algebraic Elimination[J];Chinese Journal of Mechanical Engineering;2009-01
5 FANG Xifeng1 ZHAO Ruoyu1 WU Hongtao2 MIAO Qunhua2 WANG Tongyue3 LIU Yuanwei3 (1.Institute of Mechanical Engineering,Jiangsu University of Science and Technology,Zhenjiang 212003; 2.College of Mechanical and Electrical Engineering,Nanjing University of Aeronautics & Astronautics,Nanjing 210016; 3.Key Laboratory of Jiangsu Province for Numeric Manufacturing Technology,Huaiyin Institute of Technology,Huaian 223001);Forward Kinematics Analysis of 6-UPS Parallel Machine Tool with Cross Rod[J];Journal of Mechanical Engineering;2012-13
【Citations】
Chinese Journal Full-text Database 5 Hits
1 Huang Tian Wang Jinsong (Tianjin University) (Qinghua University) Whitehouse D J (University of Warwick, Coventry CV4 7AL, UK);CLOSED FORM SOLUTION TO THE LOCAL DEXTERITY AND ISOTROPY OF STEWART PARALLEL MANIPULATORS[J];CHINESE JOURNAL OF MECHANICAL ENGINEERING;1999-05
2 JIANG Hong 1, JIA Rong 2, DONG Hong zhi 3, WANG Xiao chun 1 1. Xi'an Jiaotong Univ., Xi'an 710049, China; 2. Xi'an Univ. of Tech., Xi'an 710048; 3. School of Mechanical Eng., Shanghai Jiaotong Univ., Shanghai 200030;Positional Solution of a Six Degree of Freedom Parallel Robot[J];JOURNAL OF SHANGHAI JIAOTONG UNIVERSITY;2000-03
3 ZHAO Xin hua, PENG Shang xian, ZHANG Wei jun, LI Chun shu (Intelligent Machine Insitute,Tianjin University,Tianjin 300072,China);METHOD OF SUCCESSIVE APPROXIMATION FOR THE FORWARD DISPLACEMENT ANALYSIS OF PARALLEL MANIPULATORS[J];Journal of Tianjin University;2000-02
4 Wen Fuan(Beijing University of Post & Telecommunications,Beijing,China) Liang Chonggao Liao Qizheng p 1011 1013;The Forward Displacement Analysis of Parallel Robotic Mechanisms[J];CHINA MECHANICAL ENGINEERING;1999-09
5 Huang Yuzhen (Beijing Municipal Computing Centre ,Beijing,China)Fu Guangwei Jiang Xueqian Wu Wenda p1124 1125;Forward Displacement Analysis of a Special Stewart - Gough Platform[J];CHINA MECHANICAL ENGINEERING;1999-10
【Co-citations】
Chinese Journal Full-text Database 10 Hits
1 SUN Yuping,MA Hongwei,FENG Donghai(School of Civil Engineering,Lanzhou University of Technology,Lanzhou 730050,China);The analysis of internal force for steel frame with semi-rigid connections[J];Sichuan Building Science;2008-03
2 SUN Jing-jing(School of Physics and Material Science,Anhui University,Hefei 230039,China);Detecting high frequency weak signal using frequency shifting stochastic resonance[J];Journal of Anhui University(Natural Sciences Edition);2010-01
3 GAO Hong~(1,2),ZHAO Han~(1)(1.Sch.of Mech.& Auto.Engn.,Hefei University of Technology,Hefei 230009,China;2.Dept.of Mech.Engn.,Anhui University of Technology and Science,Wuhu 241000,China);A review about theory of mechanism for parallel robotics[J];Journal of Anhui University of Technology and Science(Natural Science);2006-01
4 XIA Hui1,JIN Jing-quan2(1.Telephone Communication Stations,The People's Government Department of AnHui Province,Hefei 230006,China;2.Dept.of Com.Sci.,Nanjing Normal University,Nanjing 210042,China);A single input-single output cerebllar model articulation controller[J];Journal of Anhui University of Technology and Science(Natural Science);2008-02
5 HU Yu?han,ZHANG Da?qing,SUN Jia?jun(Dept. of Mathematics and Physics,Anshan Institute of I.& S.Technology,Anshan 114002,China);An Interval Iterative Solution of Nonlinear Equation[J];Journal of Anshan Institute of Iron and Steel Technology;2000-05
6 Wang Liang1,2,3,Hu Jingtao1(1.Key Laboratory of Industrial Informatics,Shenyang Institute of Automation,Chinese Academy of Sciences, Shenyang 110016,China;2.Graduate School of the Chinese Academy of Sciences,Beijing 100039,China; 3.Shenyang University of Chemical Technology,Shenyang 110142,China);Neural Network Based Intelligent R2R Predictive Control to CMP Process[J];Semiconductor Technology;2012-04
7 JI Guo-jin, MA Kui, WANG Lei (China-German College of Tongji University, Shanghai 200092, China);Kinematics analysis on a micro-nano-manipulator[J];Micronanoelectronic Technology;2003-03
8 Su Peng He Guangping(Col.of Mechanical and Electronical Engineering,North China Univ.of Tech.,100144,Beijing,China);Dynamics Modeling and Simulation Verification of One-legged-hopping Robot[J];Journal of North China University of Technology;2011-03
9 WEN Qingrong,FANG Yuefa (School of Mechanical and Electronic Control Engineering,Northern Jiaotong University, Beijing 100044,China);Mobility Analysis of A Novel 4-DoF Parallel Manipulator[J];Journal of Northern Jiaotong University;2003-04
10 JIANG Hong,CAI Yong-lin,WANG Xiao-chun (School of Mechanical and Electronic Control Engineering,Beijing Jiaotong University,Beijing 100044,China);A New Kind of Algorithm on Parallel Mechanism Structural Errors Detection and Modification[J];Journal of Beijing Jiaotong University;2007-01
China Proceedings of conference Full-text Database 10 Hits
1 Ruan jiuhong1,Rong xuewen2,Wu sanyou1 1.Shandong Jiaotong University,Jinan 250023,P.R.China2.Robot center,Shandong University,Jinan 250061,P.R.China;Study on ADRC Controller Design and Simulation of Rock Drill Robot Joint Hydraulic Drive System[A];[C];2007
2 Sun Lining,Liu Yanwu,Qu Dongsheng,Li Changfeng Robotics Institute,Harbin Institute of Technology,Harbin 150080,P.R.China;On Target Positioning Parallel Robot Control[A];[C];2007
3 Sun Lining,Li Changfeng,Qu Dongsheng,Liu Yanwu Robotic Institute,Harbin Institute of Technology,Harbin 150080,P.R.China;Development of Precision Parallel Robot in ICF Research[A];[C];2007
4 Hu Ying,Wu Defeng Automation Research Center,Dalian Maritime University,Dalian 116026,P.R.China;On Kinematics of a Flexible Inspection Robot[A];[C];2008
5 Hu Qian1,Zeng Da-zhi2,Xie Xiao-gang3School of Information and Electronics,Beijing Institute of Technology,Beijing,China 100081;Precision Analysis of Numerical Integration of Satellite Orbit[A];[C];2012
6 Zhang Janwei,Cao Min,Wang Xin,Bi Zhizhou(Yunnan Electric Power Research Institute,Kunming 650217,China);Design of Testing Data Analysis and Statistics System of Gateway Multifunction Watt-hour Meter Based on Data Mining[A];[C];2011
7 Chuanbo Ren Tiangtao Tian Shandong University of Technology;Dynamic analysis of non-linear suspension based on precise integration method[A];[C];2007
8 Li Yangbo,Huang Dahai College of water conservancy and environment,Three Georges University;Variable Precision Method in temperature fields simulation analysis of concrete dams based on ICCG[A];[C];2010
9 Jin Zhenlin,Gao Feng;Analysis on stiffness index of a new type parallel machine tool based on 6 - SPS three - dimensional Platform[A];[C];2000
10 QIU Yan-feng YU Li-juan LIU Rong-sheng GAO Ying-jie(Hebei Key Laboratory of Heavy Machinery Fluid Power Transmission and Control,Yanshan University,Hebei,Qinhuangdao,066044);Research on Electro-hydraulic Control Technology of Intelligent Pump Car[A];[C];2010
【Co-references】
Chinese Journal Full-text Database 10 Hits
1 GAO Hong~(1,2),ZHAO Han~(1)(1.Sch.of Mech.& Auto.Engn.,Hefei University of Technology,Hefei 230009,China;2.Dept.of Mech.Engn.,Anhui University of Technology and Science,Wuhu 241000,China);A review about theory of mechanism for parallel robotics[J];Journal of Anhui University of Technology and Science(Natural Science);2006-01
2 Zheng Quan (College of Basic Sciences, North China Univ. of Tech., 100041,Beijing, China);A Note and an Addition to Newton's Method[J];Journal of North China University of Technology;2002-03
3 XU Yi-hua, LIU De-zhong, FEI Ren-yuan, PAN Xin-wen( College of Mechanical Engineering and Applied Electronics Technology,Beijing Polytechnic University, Beijing 100022, China );Analysis on Mechanical Errors of 3-PTT Parallel Connection Micromanipulator[J];Journal of Beijing Polytechnic University;2002-02
4 LI Jian-feng, WANG Xin-hua, WEI Yuan-qian, WU Liang-sheng, WU Guang-zhong ( College of Mechanical Engineering and Applied Electronical Technology, Beijing University of Technology, Beijing 100022, China );Differential Kinematic and Dynamic Analysis of 3-RSR Parallel Mechanism[J];Journal of Beijing Polytechnic University;2003-04
5 GUO Zu hua CHEN Wu yi CHEN Ding chang (Beijing University of Aeronautics and Astronautics, School of Mechanical Engineering and Automation);Simulation Analysis on Kinematics and Force of Hexapod[J];Journal of Beijing University of Aeronautics and Astronautics;2001-01
6 Guo WeidongHan XianguoChen Wuyi (School of Mechanical Engineering and Automation, Beijing University of Aeronautics and Astronautics, Beijing 100083, China);Kinematics analysis of parallel mechanisms 3PSS[J];Journal of Beijing University of Aeronautics and Astronautics;2004-01
7 Pei Baoqing Han Xianguo Chen Wuyi(School of Mechanical Engineering and Automation, Beijing Univers ity of Aeronautics and Astronautics, Beijing 100083, China);Solution of direct kinematics of 6-DOF parallel manipulatorsusing extra sensors[J];Journal of Beijing University of Aeronautics and Astronautics;2005-04
8 Zhang Ketao Fang Yuefa Fang Hairong(Department of Mechanical Engineering,Beijing Jiaotong University,Beijing 100044,China);Design and analysis of a rover mechanism based on the metamorphic principle[J];Journal of Beijing University of Aeronautics and Astronautics;2007-07
9 Zhuang Yufeng(School of Automation,Beijing University of Posts and Telecommunications,Beijing 100876,China)Huang Xiguang(School of Mechanical and Electrical Engineering,North China University of Technology,Beijing 100041,China)Liao Qizheng(School of Automation,Beijing University of Posts and Telecommunications,Beijing 100876,China);Direct kinematics of Stewart mechanism robot[J];Journal of Beijing University of Aeronautics and Astronautics;2009-01
10 Han Lin (Beijing University of Aeronautics and Astronautics,Dept. of Mechanical and Electronical Engineering) Liao Qizheng\ Liang Chonggao (Beijing University of Posts Telecommunications,Dept. of Mechanical and Electronic Engineering);Closed Form Displacement Analysis of a Planar Fifth Class Group with Lower Pairs[J];JOURNAL OF BEIJING UNIVERSITY OF AERONAUTICS AND ASTRONAUTICS;1998-05
【Secondary References】
Chinese Journal Full-text Database 10 Hits
1 MI Shi-bin1,JIN Zhen-lin1,2(1.College of Mechanical Engineering,Yanshan University,Qinhuangdao,Hebei 066004,China;2.State Key Laboratory of Mechanical System and Vibration,Shanghai Jiaotong University,Shanghai 200240,China);Seeking positional forward solution of parallel mechanism based on Jacobin matrix[J];Journal of Yanshan University;2011-05
2 SANG Jian,CHEN Zhi-ping,ZHANG Ju-yong,LIU Rui(College of Mechanical Engineering,Hangzhou Dianzi University,Hangzhou 310018,China);Analytic method of the workspace of an incompletely restrained wire-driven parallel mechanism[J];Journal of Mechanical & Electrical Engineering;2010-08
3 SUN Yong-sheng1,2,HAN Xian-guo1,CHEN Wu-yi1,XIONG Jun1,ZHANG Yi-gang2(1.School of Mechanism,Beihang University,Beijing 100191,China; 2.Troops 95989,Chinese PLA,Beijing 100076,China);High efficient approach of direct problem with extensive convergence on parallel mechanism[J];Computer Integrated Manufacturing Systems;2012-05
4 Cheng Shili1,Wu Hongtao1,Liu Fanghua2,Wang Chaoqun1,Yao Yu1(1.College of Mechanical and Electrical Engineering,Nanjing University of Aeronautics and Astronautics,Nanjing,Jiangsu 210016,China;2.School of Mechanical Engineering,Jiangsu University of Science and Technology,Zhenjiang,Jiangsu 212003,China);An efficient general analytical approach to forward kinematic analysis of NGP parallel mechanism[J];Journal of Jiangsu University(Natural Science Edition);2010-06
5 ZHANG Ying LIAO Qizheng WEI Shimin(School of Automation,Beijing University of Posts and Telecommunications,Beijing 100876);Forward Displacement Analysis of a General 6-4 In-parallel Platform[J];Journal of Mechanical Engineering;2012-09
6 FANG Xifeng1 ZHAO Ruoyu1 WU Hongtao2 MIAO Qunhua2 WANG Tongyue3 LIU Yuanwei3 (1.Institute of Mechanical Engineering,Jiangsu University of Science and Technology,Zhenjiang 212003; 2.College of Mechanical and Electrical Engineering,Nanjing University of Aeronautics & Astronautics,Nanjing 210016; 3.Key Laboratory of Jiangsu Province for Numeric Manufacturing Technology,Huaiyin Institute of Technology,Huaian 223001);Forward Kinematics Analysis of 6-UPS Parallel Machine Tool with Cross Rod[J];Journal of Mechanical Engineering;2012-13
7 SONG Jing,FANG Kang-ling(College of Information Science and Engineering,Wuhan University of Science and Technology,Wuhan 430081,China);Inverse Kinematics Analysis of Robot Based on Double Quaternion[J];Machinery & Electronics;2010-12
8 ZHOU Yun-hua;PENG Song-jiang;QIU Qun-xian;YOU Ren-hua;XIE Li-yun;The 713 Research Institute of CSIC;;Research on the equivalent swing parameters of ship motion simulation platform[J];Ship Science and Technology;2013-09
9 LIANG Hui1,HUANG Shun1,CHEN Wu-yi2(1.College of Electromechanical Engineering,Qingdao University of Science & Technology,Qingdao 266061,China;2.Beijing University of Aeronautics and Astronautics,Beijing 10083,China);Research on the Force Control System of 3PRS/UPS Parallel Machine Tools[J];Journal of Qingdao University(Engineering & Technology Edition);2010-03
10 LI Zhenshan1,2(1.Tianjin University of Technology and Education,Tianjin 300222,China; 2.Lonyan Technician Institute,Lonyan 364000,China);Parametric Modeling of 3-RPS Parallel Manipulator on APDL Language in ANSYS[J];New Technology & New Process;2012-01
【Secondary Citations】
Chinese Journal Full-text Database 4 Hits
1 TAN Fanzhong(Heilongjiang College of Heavy-duty Machinery,Fulaerqi)WANG Hongbo;(?)UANG Zhen(Mechanical Dept,Yanshan University,Qinhuandao);INFLUENCE COEFFICIENT MATRICES AND APPLICATION OF PARALLEL 6-SPS ROBOT MANIPULATOR[J];Robot;1989-05
2 QU Yiyuan;HUANG Zhen(Yanshan University,Qinhuandao);THREE-DIMENSIONAL OPTIMIZATION ALGORITHM OF SIX-DOF MULTI-LOOP SPATIAL MECHANISM[J];Robot;1989-05
3 Liu Anxin 1 Yang Tingli ( 1Engineering Institute of Engineer Corps, Nanjing 210007);Finding All Solutions to Forward Displacement Analysis Problem of 6 SPS Parallel Robot Mechanism[J];MECHANICAL SCIENCE AND TECHNOLOGY;1996-04
4 Han Lin Liao Qizheng Liang Chonggao(Beijing University of Posts and Telecommunications, Beijing 100088);Displacement Analysis of the 3TPS Spatial Parallel Manipulator by Using WuRitt′s Method[J];MECHANICAL SCIENCE AND TECHNOLOGY;1998-04
©2006 Tsinghua Tongfang Knowledge Network Technology Co., Ltd.(Beijing)(TTKN) All rights reserved