Title :
The Screw Motion Simulation on 3-RPS Parallel Pyramid Mechanism
Author :
Huang, Zhen ; Mu, Dejun ; Zeng, Daxing
Author_Institution :
Yanshan Univ., Qinhuangdao
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;
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
DOI :
10.1109/ICMA.2007.4304013
