Kinematic and Dynamic Analysis of the Partially Decoupled Parallel Manipulator
Aiming at the machining of complex curved surface parts with parallel machine tools， a novel partially decoupled parallel manipulator （PM） is proposed. The degree of freedom and the decoupling performance of the mechanism are analyzed. The formula for the kinematic relationship between the driving b...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | zho |
| Published: |
Editorial Office of Journal of Mechanical Transmission
2022-01-01
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| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2022.08.012 |
| _version_ | 1797819023388311552 |
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| author | Canguo Zhang Xiaoyu Ni Zhanfeng Song Yongjie Zheng |
| author_facet | Canguo Zhang Xiaoyu Ni Zhanfeng Song Yongjie Zheng |
| author_sort | Canguo Zhang |
| collection | DOAJ |
| description | Aiming at the machining of complex curved surface parts with parallel machine tools， a novel partially decoupled parallel manipulator （PM） is proposed. The degree of freedom and the decoupling performance of the mechanism are analyzed. The formula for the kinematic relationship between the driving branches and the moving platform is deduced by the vector method. The motion of each component in the parallel manipulator is analyzed. Considering the gravity， inertia force and moment of inertia of the components in the mechanism， a dynamic model of the parallel manipulator is established. The kinematic and dynamic equation of the PM is verified based on advanced CAD software. The singularity of the PM is analyzed， which provides theoretical and technical foundations for its application. |
| first_indexed | 2024-03-13T09:16:46Z |
| format | Article |
| id | doaj.art-062d2e9711fe40498a387876fd5513ed |
| institution | Directory Open Access Journal |
| issn | 1004-2539 |
| language | zho |
| last_indexed | 2024-03-13T09:16:46Z |
| publishDate | 2022-01-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj.art-062d2e9711fe40498a387876fd5513ed2023-05-26T09:51:59ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392022-01-0146727730484543Kinematic and Dynamic Analysis of the Partially Decoupled Parallel ManipulatorCanguo ZhangXiaoyu NiZhanfeng SongYongjie ZhengAiming at the machining of complex curved surface parts with parallel machine tools， a novel partially decoupled parallel manipulator （PM） is proposed. The degree of freedom and the decoupling performance of the mechanism are analyzed. The formula for the kinematic relationship between the driving branches and the moving platform is deduced by the vector method. The motion of each component in the parallel manipulator is analyzed. Considering the gravity， inertia force and moment of inertia of the components in the mechanism， a dynamic model of the parallel manipulator is established. The kinematic and dynamic equation of the PM is verified based on advanced CAD software. The singularity of the PM is analyzed， which provides theoretical and technical foundations for its application.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2022.08.012Parallel Manipulator;Decoupled;Dynamics;Singularity |
| spellingShingle | Canguo Zhang Xiaoyu Ni Zhanfeng Song Yongjie Zheng Kinematic and Dynamic Analysis of the Partially Decoupled Parallel Manipulator Jixie chuandong Parallel Manipulator;Decoupled;Dynamics;Singularity |
| title | Kinematic and Dynamic Analysis of the Partially Decoupled Parallel Manipulator |
| title_full | Kinematic and Dynamic Analysis of the Partially Decoupled Parallel Manipulator |
| title_fullStr | Kinematic and Dynamic Analysis of the Partially Decoupled Parallel Manipulator |
| title_full_unstemmed | Kinematic and Dynamic Analysis of the Partially Decoupled Parallel Manipulator |
| title_short | Kinematic and Dynamic Analysis of the Partially Decoupled Parallel Manipulator |
| title_sort | kinematic and dynamic analysis of the partially decoupled parallel manipulator |
| topic | Parallel Manipulator;Decoupled;Dynamics;Singularity |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2022.08.012 |
| work_keys_str_mv | AT canguozhang kinematicanddynamicanalysisofthepartiallydecoupledparallelmanipulator AT xiaoyuni kinematicanddynamicanalysisofthepartiallydecoupledparallelmanipulator AT zhanfengsong kinematicanddynamicanalysisofthepartiallydecoupledparallelmanipulator AT yongjiezheng kinematicanddynamicanalysisofthepartiallydecoupledparallelmanipulator |