DocumentCode
3409671
Title
The Screw Motion Simulation on 3-RPS Parallel Pyramid Mechanism
Author
Huang, Zhen ; Mu, Dejun ; Zeng, Daxing
Author_Institution
Yanshan Univ., Qinhuangdao
fYear
2007
fDate
5-8 Aug. 2007
Firstpage
2860
Lastpage
2864
Abstract
In this paper, a 3-RPS pyramid mechanism is analysed. Three constraining force screw limit the translations of the pyramid in three directions, only three rotating freedom is allowed in spatial. The mechanism has screw motion along its diagonal. The input rationality of the mechanism is discussed using the screw theory. We build up the model of this mechanism with the application of MATLAB, study the simulation of the screw movement, get a series of movement curves and verify the theories analysis by the numerical example.
Keywords
mathematics computing; robot kinematics; 3-RPS parallel pyramid mechanism; MATLAB; deficient-rank parallel robot; screw motion simulation; Analytical models; Fasteners; Jacobian matrices; Kinematics; MATLAB; Mathematical model; Mechatronics; Motion analysis; Parallel robots; Robotics and automation; Parallel; Pyramid Mechanism; Screw Movement; Simulation;
fLanguage
English
Publisher
ieee
Conference_Titel
Mechatronics and Automation, 2007. ICMA 2007. International Conference on
Conference_Location
Harbin
Print_ISBN
978-1-4244-0828-3
Electronic_ISBN
978-1-4244-0828-3
Type
conf
DOI
10.1109/ICMA.2007.4304013
Filename
4304013
Link To Document