Title :
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
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;
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
DOI :
10.1109/CAIDCD.2008.4730562
