Kinematics of Articulated Planar Linkages

Zhao, Jing–Shan; Wei, Sha

doi:10.3389/fmech.2021.774814

Cited by 2 publications

(3 citation statements)

References 23 publications

(34 reference statements)

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“…Sci. 2023, 13,10150 screws and the unified kinematic and static modeling approach. The method is d strated through static modeling of the Gough-Stewart platform.…”

Section: Geometry Of a Gough-stewart Patformmentioning

confidence: 99%

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Kinematics and Statics of the Gough-Stewart Platform

Zhao,

Sun,

Wei

2023

Applied Sciences

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This paper presents an algorithm for the kinematics and statics analysis of a Gough–Stewart platform. Through defining the velocity screw, the relative angular and linear velocities of a single rigid body can be expressed as a single vector. The velocity screw equations of various mechanisms are deduced in detail, the forward and inverse kinematics of a parallel mechanism can be solved through the velocity screw equation. Similarly, the definition of the force screw allows all constraint forces and torques of a single rigid body to be expressed using a single vector, and the static screw equation can be used to solve the forward and inverse statics of a parallel mechanism in one coordinate system. The advantage of this approach is that kinematics and statics modeling are unified in screw coordinates because the kinematic parameters in screw form can be directly employed in statics modeling. The results of the kinematics and statics analysis of the Gough-Stewart platform validate this method. This algorithm is easy to compute and program with high efficiency, and it can also be applied to any other spatial, complex multi-rigid-body systems.

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“…Sci. 2023, 13,10150 screws and the unified kinematic and static modeling approach. The method is d strated through static modeling of the Gough-Stewart platform.…”

Section: Geometry Of a Gough-stewart Patformmentioning

confidence: 99%

“…However, there are sometimes many finite solutions corresponding to different configurations [12]. Up until now, the kinematics of the manipulator could be analyzed with the methods proposed in the past decades [13,14]. Some scholars also provide several methods to solve the kinematics of parallel mechanisms [15,16].…”

Section: Introductionmentioning

confidence: 99%

Kinematics and Statics of the Gough-Stewart Platform

Zhao,

Sun,

Wei

2023

Applied Sciences

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“…It is straightforward to find the solutions of the displacement, velocity and acceleration of a mechanism in Plücker coordinates [21][22][23].…”

Section: Introductionmentioning

confidence: 99%

Dynamics for a 3-UPU Parallel Robot

Zhao

Wei

Sun

2022

Preprint

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This paper investigates Newton-Euler dynamics in Plücker coordinates for a parallel robot. In classical mechanics, the Newton–Euler equations describe the dynamics of a rigid body by combining translations and rotations. In accordance to the definition of a screw, the angular velocity of a rigid body and its linear velocity at a point are represented in Plücker coordinates. With Plücker coordinates, we get the absolute displacement through numerical integration on the velocity solution and acceleration through numerical differential interpolation of velocity of each joint. The absolute accelerations and displacements calculated in kinematics are used to establish the force equation and toque equation directly. Since both the displacement and acceleration can be numerically expressed in terms of velocity of first order, the most prominent merit of the algorithm is that the dynamics can be iterated based on the velocities in Plücker coordinates including forward and inverse dynamics. The dynamics of a spatial 3-UPU parallel robot validates the algorithm. Although this paper only discusses the dynamics of 3-UPU parallel robot, it is also suited to developing numerical algorithms for kinematics and dynamics of a series mechanism and hybrid mechanism.

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Kinematics of Articulated Planar Linkages

Cited by 2 publications

References 23 publications

Kinematics and Statics of the Gough-Stewart Platform

Kinematics and Statics of the Gough-Stewart Platform

Dynamics for a 3-UPU Parallel Robot

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