Rotational Axes Analysis of the 2-RPU/SPR 2R1T Parallel Mechanism

Xu, Yundou; Zhou, Shasha; Yao, Jiantao; Zhao, Yongsheng

doi:10.1007/978-3-319-07058-2_13

Cited by 5 publications

(2 citation statements)

References 9 publications

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“…[30], the constraint wrenches that are independent from all of the other single and combined constraint wrenches are defined as the non-overconstrained wrenches, and the remaining (i.e., linearly dependent) constraint wrenches are called the overconstrained wrenches, for example, the 2RPU-SPR PM analyzed in refs. [32,33], as shown in Fig. 1.…”

Section: Review Of a Methods Of The Force Analysis Of The Over Constramentioning

confidence: 82%

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Principle of Force Analysis of Overconstrained Parallel Mechanisms Considering Link Weight

Liu³

et al. 2019

Robotica

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SummaryThe fundamental cause for the statically indeterminate problem in the force analysis of overconstrained parallel mechanisms (PMs) is found to be the presence of the linearly dependent overconstrained wrenches. Based on the fundamental cause, a unified expression of the solution for the magnitudes of the constraint wrenches of both the limb stiffness decoupled and limb stiffness coupled overconstrained PMs is derived. When the weight of each link is considered, depending on whether additional component forces are generated along the axes of the overconstrained wrenches, two different situations should be considered. One situation is that no additional component force is generated along the axes of the overconstrained wrenches under the weight of the links in the corresponding limb. In this case, the added constraint wrenches at the limb’s end can be calculated directly, and used as a part of the generalized external wrench. The other situation is that additional component forces are generated. In this case, the elastic deformations in the axes of the overconstrained wrenches generated by those component forces should be considered, and the deformation compatibility equations between the overconstrained wrenches are reformulated.

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Section: Review Of a Methods Of The Force Analysis Of The Over Constramentioning

confidence: 82%

“…As analyzed in ref. [33], the orientation matrix of the o-xyz coordinate with respect to the O-XYZ coordinate can be expressed as follows:…”

Section: Force Analysis Of the Overconstrained Pm Considering The Linmentioning

confidence: 99%

Principle of Force Analysis of Overconstrained Parallel Mechanisms Considering Link Weight

Liu³

et al. 2019

Robotica

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The weighted Moore–Penrose generalized inverse and the force analysis of overconstrained parallel mechanisms

Liu

Yao

et al. 2016

Multibody Syst Dyn

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Kinematic, dynamic, and performance analysis of a new 3-DOF over-constrained parallel mechanism without parasitic motion

Miao

Zhang

Qin

et al. 2021

Mechanism and Machine Theory

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Rotational Axes Analysis of the 2-RPU/SPR 2R1T Parallel Mechanism

Cited by 5 publications

References 9 publications

Principle of Force Analysis of Overconstrained Parallel Mechanisms Considering Link Weight

Principle of Force Analysis of Overconstrained Parallel Mechanisms Considering Link Weight

The weighted Moore–Penrose generalized inverse and the force analysis of overconstrained parallel mechanisms

Kinematic, dynamic, and performance analysis of a new 3-DOF over-constrained parallel mechanism without parasitic motion

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