Singular Position Analysis of Parallel Mechanism with 4R Circuit
Introducing the 4R equivalent circuit into parallel mechanism,the kinematics and dynamics property of the mechanism can be effectively improved. Meanwhile,the change of singular position in parallel mechanism may be caused. The singular position of 4R mechanism is analyzed by using screw theory. The...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | zho |
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Editorial Office of Journal of Mechanical Transmission
2016-01-01
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| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2016.03.004 |
| _version_ | 1797819396510449664 |
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| author | Zhu Wei Geng Lin Xu Zhaotang Dai Zhiming |
| author_facet | Zhu Wei Geng Lin Xu Zhaotang Dai Zhiming |
| author_sort | Zhu Wei |
| collection | DOAJ |
| description | Introducing the 4R equivalent circuit into parallel mechanism,the kinematics and dynamics property of the mechanism can be effectively improved. Meanwhile,the change of singular position in parallel mechanism may be caused. The singular position of 4R mechanism is analyzed by using screw theory. The 4R circuit is introduced into 3- PRS parallel mechanism to form a new 3- P（ 4R） RS parallel mechanism. The force Jacobian matrix is established,and the possible singular positions of actuator,platform and branched chain are obtained by using Jacobian algebra method. On this basis,the effect of rod length relationship on the singular position is investigated,and the 3- dimensional model and motion simulation of 3- P（4R） RS parallel mechanism are established by Pro / E. The result validates the conclusion that the introduction of 4R circuit can effectively avoid part of the singular position of the mechanism. |
| first_indexed | 2024-03-13T09:23:18Z |
| format | Article |
| id | doaj.art-8ce25ac057d24bb3ae4dec30bd91ad70 |
| institution | Directory Open Access Journal |
| issn | 1004-2539 |
| language | zho |
| last_indexed | 2024-03-13T09:23:18Z |
| publishDate | 2016-01-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj.art-8ce25ac057d24bb3ae4dec30bd91ad702023-05-26T09:40:13ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392016-01-0140172229922689Singular Position Analysis of Parallel Mechanism with 4R CircuitZhu WeiGeng LinXu ZhaotangDai ZhimingIntroducing the 4R equivalent circuit into parallel mechanism,the kinematics and dynamics property of the mechanism can be effectively improved. Meanwhile,the change of singular position in parallel mechanism may be caused. The singular position of 4R mechanism is analyzed by using screw theory. The 4R circuit is introduced into 3- PRS parallel mechanism to form a new 3- P（ 4R） RS parallel mechanism. The force Jacobian matrix is established,and the possible singular positions of actuator,platform and branched chain are obtained by using Jacobian algebra method. On this basis,the effect of rod length relationship on the singular position is investigated,and the 3- dimensional model and motion simulation of 3- P（4R） RS parallel mechanism are established by Pro / E. The result validates the conclusion that the introduction of 4R circuit can effectively avoid part of the singular position of the mechanism.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2016.03.0043-P（4R）RS parallel mechanism;Force Jacobian;Jacobian algebra method;Singular position |
| spellingShingle | Zhu Wei Geng Lin Xu Zhaotang Dai Zhiming Singular Position Analysis of Parallel Mechanism with 4R Circuit Jixie chuandong 3-P（4R）RS parallel mechanism;Force Jacobian;Jacobian algebra method;Singular position |
| title | Singular Position Analysis of Parallel Mechanism with 4R Circuit |
| title_full | Singular Position Analysis of Parallel Mechanism with 4R Circuit |
| title_fullStr | Singular Position Analysis of Parallel Mechanism with 4R Circuit |
| title_full_unstemmed | Singular Position Analysis of Parallel Mechanism with 4R Circuit |
| title_short | Singular Position Analysis of Parallel Mechanism with 4R Circuit |
| title_sort | singular position analysis of parallel mechanism with 4r circuit |
| topic | 3-P（4R）RS parallel mechanism;Force Jacobian;Jacobian algebra method;Singular position |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2016.03.004 |
| work_keys_str_mv | AT zhuwei singularpositionanalysisofparallelmechanismwith4rcircuit AT genglin singularpositionanalysisofparallelmechanismwith4rcircuit AT xuzhaotang singularpositionanalysisofparallelmechanismwith4rcircuit AT daizhiming singularpositionanalysisofparallelmechanismwith4rcircuit |