A class of novel 2T2R and 3T2R parallel mechanisms with large decoupled output rotational angles
Sign Up to like & getrecommendations! Published in 2017 at "Mechanism and Machine Theory"
DOI: 10.1016/j.mechmachtheory.2017.04.003
Abstract: Abstract This article focuses on the synthesis and analysis of a class of novel 2T2R (T denotes Translation and R denotes Rotation) and 3T2R parallel mechanisms (PMs) with large decoupled output rotational angles. Two articulated… read more here.
Keywords: 3t2r parallel; decoupled output; novel 2t2r; parallel mechanisms ... See more keywords
Design of a class of generalized parallel mechanisms with large rotational angles and integrated end-effectors
Sign Up to like & getrecommendations! Published in 2019 at "Mechanism and Machine Theory"
DOI: 10.1016/j.mechmachtheory.2018.12.027
Abstract: Abstract The generalized parallel mechanisms (GPMs) become a new feasible research topic to explore the advantages and overcome the shortcomings of the traditional parallel mechanisms (TPMs). This paper aims to address the challenge of the… read more here.
Keywords: integrated end; end effectors; parallel mechanisms; large rotational ... See more keywords
Stiffness modeling of overconstrained parallel mechanisms under considering gravity and external payloads
Sign Up to like & getrecommendations! Published in 2019 at "Mechanism and Machine Theory"
DOI: 10.1016/j.mechmachtheory.2018.12.031
Abstract: Abstract Difficulty and complexity of stiffness modeling of parallel mechanisms will be greatly increased under considering gravity of limbs. This paper presents a general method for stiffness modeling of overconstrained parallel mechanisms under considering gravity… read more here.
Keywords: stiffness modeling; considering gravity; modeling overconstrained; stiffness ... See more keywords
A geometric algebra algorithm for the closed-form forward displacement analysis of 3-PPS parallel mechanisms
Sign Up to like & getrecommendations! Published in 2019 at "Mechanism and Machine Theory"
DOI: 10.1016/j.mechmachtheory.2019.01.035
Abstract: Abstract This paper presents an efficient graphical representation geometric algebra approach for the forward displacement analysis (FDA) of 3-PPS parallel mechanisms (PMs). Our approach based on conformal geometric algebra (CGA) reveals interesting intuitions and insight… read more here.
Keywords: forward displacement; displacement analysis; geometric algebra; algebra ... See more keywords
A novel criterion for singularity analysis of parallel mechanisms
Sign Up to like & getrecommendations! Published in 2019 at "Mechanism and Machine Theory"
DOI: 10.1016/j.mechmachtheory.2019.03.001
Abstract: Abstract A novel criterion for singularity analysis of parallel robots is presented. It relies on screw theory, the 3-dimensional Kennedy theorem, and the singular properties of minimal parallel robots. A parallel robot is minimal if… read more here.
Keywords: singularity analysis; criterion; parallel mechanisms; novel criterion ... See more keywords
Different Kinds of 3T2R Serial Kinematic Chains and Their Applications in Synthesis of Parallel Mechanisms
Sign Up to like & getrecommendations! Published in 2020 at "Mechanism and Machine Theory"
DOI: 10.1016/j.mechmachtheory.2019.103637
Abstract: Abstract This paper proposes a new-kind three-translational and two-rotational (3T2R) motion with one fixed and one variable rotation directions. The serial kinematic chains (SKCs) that generate the proposed motions are synthesized. They are quite different… read more here.
Keywords: different kinds; motion; serial kinematic; 3t2r motion ... See more keywords
Construction method of parallel mechanisms with a partially constant Jacobian matrix
Sign Up to like & getrecommendations! Published in 2020 at "Mechanism and Machine Theory"
DOI: 10.1016/j.mechmachtheory.2019.103699
Abstract: Abstract The Jacobian matrix plays an important role in the performance analysis, configuration design, planning and control of parallel mechanisms (PMs). PMs with a constant Jacobian have simple kinematics and are easy to analyse and… read more here.
Keywords: pms; jacobian matrix; constant jacobian; partially constant ... See more keywords
Instantaneous mobility analysis using the twist space intersection approach for parallel mechanisms
Sign Up to like & getrecommendations! Published in 2020 at "Mechanism and Machine Theory"
DOI: 10.1016/j.mechmachtheory.2020.103866
Abstract: Abstract This paper focuses on instantaneous mobility analysis of parallel mechanisms using the twist space intersection approach. In this study, a nullspace-associated approach is first presented to determining the intersection of screw systems based on… read more here.
Keywords: intersection; mobility; analysis; parallel mechanisms ... See more keywords
Modular modelling methodology applied to the dynamic analysis of parallel mechanisms
Sign Up to like & getrecommendations! Published in 2021 at "Mechanism and Machine Theory"
DOI: 10.1016/j.mechmachtheory.2021.104332
Abstract: Abstract Dynamic modelling is a comprehensive topic in the area of multibody systems. Particularly, for parallel mechanisms, a great number of approaches have already been proposed in the literature. From the perspective of parallel robot… read more here.
Keywords: methodology applied; methodology; modelling methodology; modular modelling ... See more keywords
A simple and visually orientated approach for type synthesis of overconstrained 1T2R parallel mechanisms
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DOI: 10.1017/s0263574718000395
Abstract: SUMMARY This paper presents a simple and highly visual approach for the type synthesis of a family of overconstrained parallel mechanisms that have one translational and two rotational movement capabilities. It considers, especially, mechanisms offering… read more here.
Keywords: type synthesis; parallel mechanisms; approach type;
Modeling and performance analysis of elastostatic stiffness of kinematically redundant parallel mechanisms
Sign Up to like & getrecommendations! Published in 2023 at "Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science"
DOI: 10.1177/09544062231167023
Abstract: An analytical elastostatic stiffness modeling approach for kinematically redundant parallel mechanisms (KR-PMs) according to screw theory and the second theorem of Castigliano is proposed. The 2-UPR/PRPU and 2-PUPR/PRPU KR-PMs are used as two examples of… read more here.
Keywords: stiffness; redundant parallel; parallel mechanisms; elastostatic stiffness ... See more keywords