Full-Text Search:
Home|Journal Papers|About CNKI|User Service|FAQ|Contact Us|中文
《Journal of Mechanical Transmission》 2014-01
Add to Favorite Get Latest Update

Analysis on Movement and Force Transmission Property of 3-CU^Parallel Mechanism

Wang Yi;Chen Anjun;School of Mechanical Engineering,Jiangnan University;  
Based on the Jacobian matrix,the velocity and force directional manipulability of three-DOF translational 3-CU^parallel robot mechanism are defined to measure mechanical movement and force transmission property along different directions under the condition of given positions,and the condition numbers of Jacobian matrix are used to measure velocity and force transmissive isotropy.The result show that the velocity and force directional manipulability can measure the movement and force transmission property along different directions visually,and the best velocity and force transmissive direction can also be convenient determined.The best direction of velocity transmission property tend to be the worst direction of force transmission property,and velocity transmission property is better than force transmission property when moving platform moves along the vertical direction.The analysis of isotropy show that when mechanism moves along z-axis,isotropy is better than any other directions,the length of legs has influence on the change of isotropy,yet the circumradius of moving platform not.The research conclusion provide definite physical significance for motion planning of 3-CU^parallel mechanism.
【CateGory Index】: TP242
Download(CAJ format) Download(PDF format)
CAJViewer7.0 supports all the CNKI file formats; AdobeReader only supports the PDF format.
Chinese Journal Full-text Database 5 Hits
1 WEI Xuan1,WU Jun2(1.Tianjin Puda Software Technology Co.,Ltd,Tianjin 300457,China;2.Mechanical Department of Tsinghua University,Beijing 100084,China);Dexterity of 3-RRR Planar Parallel Manipulators[J];Machine Tool & Hydraulics;2009-10
2 CHEN Haizhen1,ZOU Zhongyue2,SONG Hongpeng1(1.School of Mechanical Engineering,Shandong University of Technology,Zibo Shandong 255049,China; 2.School of Mechanical Engineering,Xi'an Jiaotong University,Xi'an Shaanxi 710049,China);Parameters Optimization of the 3-RCR Parallel Robot Mechanism Based on Dexterity[J];Machine Tool & Hydraulics;2012-05
3 HAN Jiangyi,YOU Youpeng,WANG Huaming,ZHU Jianying(Jiangsu Key Laboratory of Precision and Micro-Manufacturing Technology,Nanjing University of Aeronautics and Astronautics,Nanjing 210016,China);Analysis on Force Transmission of Parallel Mechanism[J];Robot;2009-06
4 CHEN An-jun~1, MA Xue-wen~2 (1. School of Mechanical Engineering, Southern Yangtze University, Wuxi 214036,China; 2. Network Information and Computation Center of Xinyang Normal Institute, Xinyang 464000, China);Research on mechanism velocity and manipulability measures of force direction of dual armed robot[J];Journal of Machine Design;2004-12
5 ZHOU Bin-xing(School of Mechanical Engineering,Jiangnan Univeridty,Wuxi 214122,China);Analysis on movement and force transmission property of 3-PRC parallel robot mechanism[J];Journal of Machine Design;2009-12
Chinese Journal Full-text Database 8 Hits
1 WANG Jun,CHEN An-jun,ZHANG Hong-tao(School of Mechanical Engineering,Southern Yangtze University,Wuxi 214122,China);Joint trajectory planning of dual armed robot based on the velocity directional manipulability measures[J];Machinery Design & Manufacture;2007-01
2 Wang Jun,Chen Anjun,Zhang Hongtao (School of Mechanical Engineering,Southern Yangtze University,Wuxi 214122);Trajectory Planning of Dual-armed Robot Based on Force-directional Manipulability[J];Mechanical Science and Technology for Aerospace Engineering;2007-08
3 Chen Zhangping,Diao Yan,Luo Hua,Xu Jianzhu(School of Manufacture Science and Engineering,Sichuan University,Chengdu 610065);Velocity-acceleration Analysis of a Minimally Invasive Surgical Robot with Redundant Degree of Freedom[J];Mechanical Science and Technology for Aerospace Engineering;2011-04
4 PEI Jiu-fang1,2,CHEN Yu1,2,XU De-zhang1,2 (1.School of Mechanical and Automotive Engineering,Anhui Polytechnic University,Wuhu 241000,China;2.Anhui Key La-boratory of Advanced Numerical Control & Servo Technology,Wuhu 241000,China);Research on grasping optimization of dexterous robot hand based on directional manipulability[J];Journal of Machine Design;2012-04
5 YE Dong-ming,LI Kai-ming(Nanjing University of Science and Technology,Jiangsu Nanjing,210094,China);Analysis on Force Transmission of 3-(2SPS) Parallel Mechanism[J];Manufacture Information Engineering of China;2012-01
6 GAO Jiliang,LI Kaiming,YUE Linlin(Nanjing University of Science and Technology,Nanjing Jiangsu 210094,China);Accuracy Analysis of Three Translational Parallel Manipulator[J];Machine Tool & Hydraulics;2012-13
7 ZHANG Yan-fei,GONG Jin-liang(School of Machinery Engineering,Shandong University of Technology,Zibo 255049,China);Controllability Analysis of a Redundant Actuation Parallel Robot[J];Machinery Design & Manufacture;2012-10
8 YANG Lei;WANG Nan;YAN Liang;ZHAO Cheng-kang;Hebei University of Engineering;;The Space 4SPS-PS Type Mechanism Stiffness and Dexterity Analysis[J];Modular Machine Tool & Automatic Manufacturing Technique;2013-11
【Secondary Citations】
Chinese Journal Full-text Database 10 Hits
1 Bi Shusheng Zong Guanghua (School of Mechanical Engineering and Automation, Beijing University of Aeronautics and Astronautics);Analysis of Kinematics of Delta Parallel Micromanipulator with Vector Space Method[J];Journal of Beijing University of Aeronautics and Astronautics;2003-04
2 JIN Zhen-lin1, GAO Feng2 (1.The College of Mechanical Engineeering, Yanshan University, Qinhuangdao 066004, China; 2.Hebei University of Technology, Tianjin 300130, China);A novel 6-SPS spherical platform parallel robotic mechanism and analysis of its local properties of force and motion transmission[J];Optics and Precision Engineering;2001-01
3 ZHAO Jie ZHU Yan-he CAI He-gao (Robot Research Institute,Harbin Institute of Technology,Harbin 150001,China);Geometric solution for direct kinematics of delta parallel robot[J];Journal of Harbin Institute of Technology;2003-01
4 YANG Binjiu,CAI Guangqi,LUO Jiman,ZHU Chunxia(1.School of Mechanical Engineering & Automation,Northeastern University,Shenyang Liaoning 110004,China;2.Beihua University,Jilin 132021,China);The State of Research on Limited-DOF Parallel Robot[J];Machine Tool & Hydraulics;2006-05
5 CHEN An-jun (Department of Applied Physics, Xinyang Teacher′s College, Xinyang 464000);On-Line Inverse Dynamics Algorithm for Dual-arm Robot Coordinated Motion[J];Mechanical Science and Technology;2002-04
6 LI Lu-yang~(1,2),WU Hong-tao~(1)(()~1 College of Mechanical and Electrical Engineering,Nanjing University of Aeronautics and Astronautics,Nanjing 210016;()~2 Mechanical Engineering College,Yangzhou University,Yangzhou 225009);Force Transmissibility Performance of Parallel Manipulators[J];Mechanical Science and Technology;2005-10
7 Kong Xianwen 1 Huang Zhen ( 1 Zhengzhou University, Zhengzhou 450052);Inverse Displacement Analysis of 3 RPS Regional Parallel Manipulators[J];MECHANICAL SCIENCE AND TECHNOLOGY;1999-03
8 CHEN An-jun 1, XU Pei-xia 1,LI Guo-liang 2 (1.School of Mechanical Engineering, Southern Yangtze University,Wuxi 214122, China; 2. Network and Information Center , Xinyang Normal University,Xinyang 464000, China);Velocity Directional Manipulability Measures of Dual Armed Robot[J];Journal of Nanjing University of Science and Technology;2005-02
9 Guo Zonghe Duan Jianguo Hao Xiuqing Sun Lei(Shandong University of Technology,Zibo 255049,China);Analysis on Position and Workspace of 4-PTT Parallel Mechanism[J];Transactions of the Chinese Society for Agricultural Machinery;2008-07
10 WU Jun, LI Tiemin, LIU Xinjun, WANG Liping Institute of Manufacturing Engineering, Department of Precision Instruments and Mechanology, Tsinghua University, Beijing 100084, China;Optimal Kinematic Design of a 2-DOF Planar Parallel Manipulator[J];清华大学学报(自然科学版)(英文版);2007-03
©2006 Tsinghua Tongfang Knowledge Network Technology Co., Ltd.(Beijing)(TTKN) All rights reserved