Computer-aided kinematical modeling of parallel mechanism with redundant Inputs

Author

Zhang, Yanfei ; Gong, Jinliang ; Gao, Feng

Author_Institution

Coll. of Machinery Eng., Shandong Univ. of Technol., Zibo, China

fYear

2008

fDate

22-25 Nov. 2008

Firstpage

241

Lastpage

244

Abstract

Based on the kinematical impact factor concept, this paper makes a thorough research about the velocity and acceleration of all the components of PSS-type parallel mechanism. The universal expressions about the first and the second order inverse impact factor matrixes of PSS-type parallel mechanism are deduced, which is applicable to any parallel mechanism with the PSS limbs random configured. An example of the parallel mechanism with redundant inputs is brought forward and analyzed to show the validity of this method.

Keywords

control system CAD; matrix inversion; redundant manipulators; PSS-type parallel mechanism; acceleration analysis; computer-aided kinematical modeling; first order inverse impact factor matrix; redundant input; second order inverse impact factor matrix; velocity analysis; Acceleration; Artificial intelligence; Concurrent computing; Educational institutions; Equations; Gold; Jacobian matrices; Joining processes; Acceleration; Kinematical Analysis; Parallel Mechanism; Redundant Input; Velocity;

fLanguage

English

Publisher

ieee

Conference_Titel

Computer-Aided Industrial Design and Conceptual Design, 2008. CAID/CD 2008. 9th International Conference on

Conference_Location

Kunming

Print_ISBN

978-1-4244-3290-5

Electronic_ISBN

978-1-4244-3291-2

Type

conf

DOI

10.1109/CAIDCD.2008.4730562

Filename

4730562