Title :
Static analysis for a 3-RUU parallel mechanism
Author :
Yu, Lingtao ; Wang, Tao ; Song, Huajian ; Wang, Zhengyu ; Yu, Peng
Author_Institution :
State Key Lab. of Robot. & Syst., Harbin Inst. of Technol., Harbin, China
Abstract :
A mathematical model of static for a parallel mechanism is generally established by using the force Jacobin matrix [1], [2], [3], which is inaccurate due to ignoring of self-gravity of the linkage [4], [5]. In this paper, based on taking self-gravity of the linkage into account, static analysis of a novel 3-DOF parallel mechanism with RUU joint structure that can perform three-dimensional translations is put forward. Based on the inverse-kinematics of parallel mechanism and forces (torques) transfer mechanism between different hinges, static model is established in order to improve accuracy of static model. Then, a numerical example is given.
Keywords :
Jacobian matrices; couplings; robot kinematics; 3-DOF parallel mechanism; 3-RUU parallel mechanism; RUU joint structure; force Jacobian matrix; forces transfer mechanism; hinges; inverse kinematics; linkage self-gravity; static analysis; torque; Equations; Gravity; Joints; Mathematical model; Torque; Vectors; 3-RUU; Parallel mechanism; Static model;
Conference_Titel :
Mechatronics and Automation (ICMA), 2012 International Conference on
Conference_Location :
Chengdu
Print_ISBN :
978-1-4673-1275-2
DOI :
10.1109/ICMA.2012.6283236
