Inverse Position Solution and Workspace Analysis of a Novel 3T2R Redundantly Actuated Hybrid Mechanism
A novel 3T2 R redundantly actuated hybrid mechanism is proposed. First,the motion principle of realizing the three- dimensional translational and two- dimensional rotation motion of this mechanism are analyzed by using the screw theory. The DOF of this mechanism is calculated,and the driving joints...
| 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.1004.2539.2016.03.005 |
| _version_ | 1797819404341215232 |
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| author | Wang Shusen Mei Ying Li Ruiqin |
| author_facet | Wang Shusen Mei Ying Li Ruiqin |
| author_sort | Wang Shusen |
| collection | DOAJ |
| description | A novel 3T2 R redundantly actuated hybrid mechanism is proposed. First,the motion principle of realizing the three- dimensional translational and two- dimensional rotation motion of this mechanism are analyzed by using the screw theory. The DOF of this mechanism is calculated,and the driving joints are chosen and discussed. Then,the inverse position solution equation is established by using analytical method. Next,based on the inverse position solution and combining with the constraints condition of this mechanism,its workspace is studied by using the numerical search method,and performance superiority of the mechanism is analyzed. At last,the inverse position solution equation is solved by using MATLAB and the results simulation verification is carried out by using ADAMS,and the correctness of the inverse position solution model and the realizability of the mechanism are verified. |
| first_indexed | 2024-03-13T09:23:24Z |
| format | Article |
| id | doaj.art-a557bb3aa7624c438f4e7de7b4e80be9 |
| institution | Directory Open Access Journal |
| issn | 1004-2539 |
| language | zho |
| last_indexed | 2024-03-13T09:23:24Z |
| publishDate | 2016-01-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj.art-a557bb3aa7624c438f4e7de7b4e80be92023-05-26T09:40:16ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392016-01-0140232729922774Inverse Position Solution and Workspace Analysis of a Novel 3T2R Redundantly Actuated Hybrid MechanismWang ShusenMei YingLi RuiqinA novel 3T2 R redundantly actuated hybrid mechanism is proposed. First,the motion principle of realizing the three- dimensional translational and two- dimensional rotation motion of this mechanism are analyzed by using the screw theory. The DOF of this mechanism is calculated,and the driving joints are chosen and discussed. Then,the inverse position solution equation is established by using analytical method. Next,based on the inverse position solution and combining with the constraints condition of this mechanism,its workspace is studied by using the numerical search method,and performance superiority of the mechanism is analyzed. At last,the inverse position solution equation is solved by using MATLAB and the results simulation verification is carried out by using ADAMS,and the correctness of the inverse position solution model and the realizability of the mechanism are verified.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2016.03.005Redundantly actuated;Hybrid mechanism;Screw theory;Inverse position;solution Workspace |
| spellingShingle | Wang Shusen Mei Ying Li Ruiqin Inverse Position Solution and Workspace Analysis of a Novel 3T2R Redundantly Actuated Hybrid Mechanism Jixie chuandong Redundantly actuated;Hybrid mechanism;Screw theory;Inverse position;solution Workspace |
| title | Inverse Position Solution and Workspace Analysis of a Novel 3T2R Redundantly Actuated Hybrid Mechanism |
| title_full | Inverse Position Solution and Workspace Analysis of a Novel 3T2R Redundantly Actuated Hybrid Mechanism |
| title_fullStr | Inverse Position Solution and Workspace Analysis of a Novel 3T2R Redundantly Actuated Hybrid Mechanism |
| title_full_unstemmed | Inverse Position Solution and Workspace Analysis of a Novel 3T2R Redundantly Actuated Hybrid Mechanism |
| title_short | Inverse Position Solution and Workspace Analysis of a Novel 3T2R Redundantly Actuated Hybrid Mechanism |
| title_sort | inverse position solution and workspace analysis of a novel 3t2r redundantly actuated hybrid mechanism |
| topic | Redundantly actuated;Hybrid mechanism;Screw theory;Inverse position;solution Workspace |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2016.03.005 |
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