Kinetostatic Analysis of 4-R(CRR) Parallel Manipulator with Overconstraints via Reciprocal-Screw Theory

The paper proposes a new approach based on reciprocal screw theory to analyze kinetostatics of lower-mobility parallel mechanisms with overconstraints and static indeterminacy. For force analysis of parallel mechanisms, the main reactions should be solved firstly, and then all other constraint react...
Ausführliche Beschreibung

Gespeichert in:

Autor*in:	Zhen Huang [verfasserIn] Yan Zhao [verfasserIn] Jingfang Liu [verfasserIn]

Format:	E-Artikel
Sprache:	Englisch

Erschienen:	2010

Übergeordnetes Werk:	In: Advances in Mechanical Engineering - SAGE Publishing, 2009, 2(2010)
Übergeordnetes Werk:	volume:2 ; year:2010

Links:	Link aufrufen Link aufrufen Link aufrufen Journal toc

DOI / URN:	10.1155/2010/404960

Katalog-ID:	DOAJ064395022

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allfields	10.1155/2010/404960 doi (DE-627)DOAJ064395022 (DE-599)DOAJc96f9aa1e0d34a41820a311c875e92e0 DE-627 ger DE-627 rakwb eng TJ1-1570 Zhen Huang verfasserin aut Kinetostatic Analysis of 4-R(CRR) Parallel Manipulator with Overconstraints via Reciprocal-Screw Theory 2010 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier The paper proposes a new approach based on reciprocal screw theory to analyze kinetostatics of lower-mobility parallel mechanisms with overconstraints and static indeterminacy. For force analysis of parallel mechanisms, the main reactions should be solved firstly, and then all other constraint reactions are easy to be obtained. The approach can remarkably reduce the number of unknowns and keep the number of simultaneous equilibrium equations not more than six each time. For static indeterminacy, it also needs to set some complementary equations. All active forces and constraint reactions of the kinematic pairs can be simultaneously obtained by analyzing the equilibrium of everybody one by one. A 4-R(CRR) parallel manipulator with collinear-force static indeterminacy is taken to introduce the method, which indicates that the method is simple and effective. Mechanical engineering and machinery Yan Zhao verfasserin aut Jingfang Liu verfasserin aut In Advances in Mechanical Engineering SAGE Publishing, 2009 2(2010) (DE-627)603487076 (DE-600)2501620-9 16878140 nnns volume:2 year:2010 https://doi.org/10.1155/2010/404960 kostenfrei https://doaj.org/article/c96f9aa1e0d34a41820a311c875e92e0 kostenfrei https://doi.org/10.1155/2010/404960 kostenfrei https://doaj.org/toc/1687-8132 Journal toc kostenfrei GBV_USEFLAG_A SYSFLAG_A GBV_DOAJ GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_95 GBV_ILN_105 GBV_ILN_110 GBV_ILN_151 GBV_ILN_161 GBV_ILN_170 GBV_ILN_213 GBV_ILN_230 GBV_ILN_285 GBV_ILN_293 GBV_ILN_370 GBV_ILN_374 GBV_ILN_602 GBV_ILN_2014 GBV_ILN_2027 GBV_ILN_2706 GBV_ILN_2707 GBV_ILN_2890 GBV_ILN_4012 GBV_ILN_4037 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4249 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4335 GBV_ILN_4338 GBV_ILN_4367 GBV_ILN_4700 AR 2 2010
spelling	10.1155/2010/404960 doi (DE-627)DOAJ064395022 (DE-599)DOAJc96f9aa1e0d34a41820a311c875e92e0 DE-627 ger DE-627 rakwb eng TJ1-1570 Zhen Huang verfasserin aut Kinetostatic Analysis of 4-R(CRR) Parallel Manipulator with Overconstraints via Reciprocal-Screw Theory 2010 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier The paper proposes a new approach based on reciprocal screw theory to analyze kinetostatics of lower-mobility parallel mechanisms with overconstraints and static indeterminacy. For force analysis of parallel mechanisms, the main reactions should be solved firstly, and then all other constraint reactions are easy to be obtained. The approach can remarkably reduce the number of unknowns and keep the number of simultaneous equilibrium equations not more than six each time. For static indeterminacy, it also needs to set some complementary equations. All active forces and constraint reactions of the kinematic pairs can be simultaneously obtained by analyzing the equilibrium of everybody one by one. A 4-R(CRR) parallel manipulator with collinear-force static indeterminacy is taken to introduce the method, which indicates that the method is simple and effective. Mechanical engineering and machinery Yan Zhao verfasserin aut Jingfang Liu verfasserin aut In Advances in Mechanical Engineering SAGE Publishing, 2009 2(2010) (DE-627)603487076 (DE-600)2501620-9 16878140 nnns volume:2 year:2010 https://doi.org/10.1155/2010/404960 kostenfrei https://doaj.org/article/c96f9aa1e0d34a41820a311c875e92e0 kostenfrei https://doi.org/10.1155/2010/404960 kostenfrei https://doaj.org/toc/1687-8132 Journal toc kostenfrei GBV_USEFLAG_A SYSFLAG_A GBV_DOAJ GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_95 GBV_ILN_105 GBV_ILN_110 GBV_ILN_151 GBV_ILN_161 GBV_ILN_170 GBV_ILN_213 GBV_ILN_230 GBV_ILN_285 GBV_ILN_293 GBV_ILN_370 GBV_ILN_374 GBV_ILN_602 GBV_ILN_2014 GBV_ILN_2027 GBV_ILN_2706 GBV_ILN_2707 GBV_ILN_2890 GBV_ILN_4012 GBV_ILN_4037 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4249 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4335 GBV_ILN_4338 GBV_ILN_4367 GBV_ILN_4700 AR 2 2010
allfields_unstemmed	10.1155/2010/404960 doi (DE-627)DOAJ064395022 (DE-599)DOAJc96f9aa1e0d34a41820a311c875e92e0 DE-627 ger DE-627 rakwb eng TJ1-1570 Zhen Huang verfasserin aut Kinetostatic Analysis of 4-R(CRR) Parallel Manipulator with Overconstraints via Reciprocal-Screw Theory 2010 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier The paper proposes a new approach based on reciprocal screw theory to analyze kinetostatics of lower-mobility parallel mechanisms with overconstraints and static indeterminacy. For force analysis of parallel mechanisms, the main reactions should be solved firstly, and then all other constraint reactions are easy to be obtained. The approach can remarkably reduce the number of unknowns and keep the number of simultaneous equilibrium equations not more than six each time. For static indeterminacy, it also needs to set some complementary equations. All active forces and constraint reactions of the kinematic pairs can be simultaneously obtained by analyzing the equilibrium of everybody one by one. A 4-R(CRR) parallel manipulator with collinear-force static indeterminacy is taken to introduce the method, which indicates that the method is simple and effective. Mechanical engineering and machinery Yan Zhao verfasserin aut Jingfang Liu verfasserin aut In Advances in Mechanical Engineering SAGE Publishing, 2009 2(2010) (DE-627)603487076 (DE-600)2501620-9 16878140 nnns volume:2 year:2010 https://doi.org/10.1155/2010/404960 kostenfrei https://doaj.org/article/c96f9aa1e0d34a41820a311c875e92e0 kostenfrei https://doi.org/10.1155/2010/404960 kostenfrei https://doaj.org/toc/1687-8132 Journal toc kostenfrei GBV_USEFLAG_A SYSFLAG_A GBV_DOAJ GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_95 GBV_ILN_105 GBV_ILN_110 GBV_ILN_151 GBV_ILN_161 GBV_ILN_170 GBV_ILN_213 GBV_ILN_230 GBV_ILN_285 GBV_ILN_293 GBV_ILN_370 GBV_ILN_374 GBV_ILN_602 GBV_ILN_2014 GBV_ILN_2027 GBV_ILN_2706 GBV_ILN_2707 GBV_ILN_2890 GBV_ILN_4012 GBV_ILN_4037 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4249 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4335 GBV_ILN_4338 GBV_ILN_4367 GBV_ILN_4700 AR 2 2010
allfieldsGer	10.1155/2010/404960 doi (DE-627)DOAJ064395022 (DE-599)DOAJc96f9aa1e0d34a41820a311c875e92e0 DE-627 ger DE-627 rakwb eng TJ1-1570 Zhen Huang verfasserin aut Kinetostatic Analysis of 4-R(CRR) Parallel Manipulator with Overconstraints via Reciprocal-Screw Theory 2010 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier The paper proposes a new approach based on reciprocal screw theory to analyze kinetostatics of lower-mobility parallel mechanisms with overconstraints and static indeterminacy. For force analysis of parallel mechanisms, the main reactions should be solved firstly, and then all other constraint reactions are easy to be obtained. The approach can remarkably reduce the number of unknowns and keep the number of simultaneous equilibrium equations not more than six each time. For static indeterminacy, it also needs to set some complementary equations. All active forces and constraint reactions of the kinematic pairs can be simultaneously obtained by analyzing the equilibrium of everybody one by one. A 4-R(CRR) parallel manipulator with collinear-force static indeterminacy is taken to introduce the method, which indicates that the method is simple and effective. Mechanical engineering and machinery Yan Zhao verfasserin aut Jingfang Liu verfasserin aut In Advances in Mechanical Engineering SAGE Publishing, 2009 2(2010) (DE-627)603487076 (DE-600)2501620-9 16878140 nnns volume:2 year:2010 https://doi.org/10.1155/2010/404960 kostenfrei https://doaj.org/article/c96f9aa1e0d34a41820a311c875e92e0 kostenfrei https://doi.org/10.1155/2010/404960 kostenfrei https://doaj.org/toc/1687-8132 Journal toc kostenfrei GBV_USEFLAG_A SYSFLAG_A GBV_DOAJ GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_95 GBV_ILN_105 GBV_ILN_110 GBV_ILN_151 GBV_ILN_161 GBV_ILN_170 GBV_ILN_213 GBV_ILN_230 GBV_ILN_285 GBV_ILN_293 GBV_ILN_370 GBV_ILN_374 GBV_ILN_602 GBV_ILN_2014 GBV_ILN_2027 GBV_ILN_2706 GBV_ILN_2707 GBV_ILN_2890 GBV_ILN_4012 GBV_ILN_4037 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4249 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4335 GBV_ILN_4338 GBV_ILN_4367 GBV_ILN_4700 AR 2 2010
allfieldsSound	10.1155/2010/404960 doi (DE-627)DOAJ064395022 (DE-599)DOAJc96f9aa1e0d34a41820a311c875e92e0 DE-627 ger DE-627 rakwb eng TJ1-1570 Zhen Huang verfasserin aut Kinetostatic Analysis of 4-R(CRR) Parallel Manipulator with Overconstraints via Reciprocal-Screw Theory 2010 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier The paper proposes a new approach based on reciprocal screw theory to analyze kinetostatics of lower-mobility parallel mechanisms with overconstraints and static indeterminacy. For force analysis of parallel mechanisms, the main reactions should be solved firstly, and then all other constraint reactions are easy to be obtained. The approach can remarkably reduce the number of unknowns and keep the number of simultaneous equilibrium equations not more than six each time. For static indeterminacy, it also needs to set some complementary equations. All active forces and constraint reactions of the kinematic pairs can be simultaneously obtained by analyzing the equilibrium of everybody one by one. A 4-R(CRR) parallel manipulator with collinear-force static indeterminacy is taken to introduce the method, which indicates that the method is simple and effective. Mechanical engineering and machinery Yan Zhao verfasserin aut Jingfang Liu verfasserin aut In Advances in Mechanical Engineering SAGE Publishing, 2009 2(2010) (DE-627)603487076 (DE-600)2501620-9 16878140 nnns volume:2 year:2010 https://doi.org/10.1155/2010/404960 kostenfrei https://doaj.org/article/c96f9aa1e0d34a41820a311c875e92e0 kostenfrei https://doi.org/10.1155/2010/404960 kostenfrei https://doaj.org/toc/1687-8132 Journal toc kostenfrei GBV_USEFLAG_A SYSFLAG_A GBV_DOAJ GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_95 GBV_ILN_105 GBV_ILN_110 GBV_ILN_151 GBV_ILN_161 GBV_ILN_170 GBV_ILN_213 GBV_ILN_230 GBV_ILN_285 GBV_ILN_293 GBV_ILN_370 GBV_ILN_374 GBV_ILN_602 GBV_ILN_2014 GBV_ILN_2027 GBV_ILN_2706 GBV_ILN_2707 GBV_ILN_2890 GBV_ILN_4012 GBV_ILN_4037 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4249 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4335 GBV_ILN_4338 GBV_ILN_4367 GBV_ILN_4700 AR 2 2010
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callnumber-first	T - Technology
author	Zhen Huang
spellingShingle	Zhen Huang misc TJ1-1570 misc Mechanical engineering and machinery Kinetostatic Analysis of 4-R(CRR) Parallel Manipulator with Overconstraints via Reciprocal-Screw Theory
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topic_title	TJ1-1570 Kinetostatic Analysis of 4-R(CRR) Parallel Manipulator with Overconstraints via Reciprocal-Screw Theory
topic	misc TJ1-1570 misc Mechanical engineering and machinery
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title	Kinetostatic Analysis of 4-R(CRR) Parallel Manipulator with Overconstraints via Reciprocal-Screw Theory
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title_full	Kinetostatic Analysis of 4-R(CRR) Parallel Manipulator with Overconstraints via Reciprocal-Screw Theory
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title_sort	kinetostatic analysis of 4-r(crr) parallel manipulator with overconstraints via reciprocal-screw theory
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title_auth	Kinetostatic Analysis of 4-R(CRR) Parallel Manipulator with Overconstraints via Reciprocal-Screw Theory
abstract	The paper proposes a new approach based on reciprocal screw theory to analyze kinetostatics of lower-mobility parallel mechanisms with overconstraints and static indeterminacy. For force analysis of parallel mechanisms, the main reactions should be solved firstly, and then all other constraint reactions are easy to be obtained. The approach can remarkably reduce the number of unknowns and keep the number of simultaneous equilibrium equations not more than six each time. For static indeterminacy, it also needs to set some complementary equations. All active forces and constraint reactions of the kinematic pairs can be simultaneously obtained by analyzing the equilibrium of everybody one by one. A 4-R(CRR) parallel manipulator with collinear-force static indeterminacy is taken to introduce the method, which indicates that the method is simple and effective.
abstractGer	The paper proposes a new approach based on reciprocal screw theory to analyze kinetostatics of lower-mobility parallel mechanisms with overconstraints and static indeterminacy. For force analysis of parallel mechanisms, the main reactions should be solved firstly, and then all other constraint reactions are easy to be obtained. The approach can remarkably reduce the number of unknowns and keep the number of simultaneous equilibrium equations not more than six each time. For static indeterminacy, it also needs to set some complementary equations. All active forces and constraint reactions of the kinematic pairs can be simultaneously obtained by analyzing the equilibrium of everybody one by one. A 4-R(CRR) parallel manipulator with collinear-force static indeterminacy is taken to introduce the method, which indicates that the method is simple and effective.
abstract_unstemmed	The paper proposes a new approach based on reciprocal screw theory to analyze kinetostatics of lower-mobility parallel mechanisms with overconstraints and static indeterminacy. For force analysis of parallel mechanisms, the main reactions should be solved firstly, and then all other constraint reactions are easy to be obtained. The approach can remarkably reduce the number of unknowns and keep the number of simultaneous equilibrium equations not more than six each time. For static indeterminacy, it also needs to set some complementary equations. All active forces and constraint reactions of the kinematic pairs can be simultaneously obtained by analyzing the equilibrium of everybody one by one. A 4-R(CRR) parallel manipulator with collinear-force static indeterminacy is taken to introduce the method, which indicates that the method is simple and effective.
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title_short	Kinetostatic Analysis of 4-R(CRR) Parallel Manipulator with Overconstraints via Reciprocal-Screw Theory
url	https://doi.org/10.1155/2010/404960 https://doaj.org/article/c96f9aa1e0d34a41820a311c875e92e0 https://doaj.org/toc/1687-8132
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