Kinematics and statics analysis of a novel 5-DoF parallel manipulator with two composite rotational/linear active legs |
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| Authors: | Yi Lu Peng Wang Shaohua Zhao Bo Hu Jianda Han Chunping Sui |
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| Affiliation: | 1. College of Mechanical Engineering, Yanshan University, Qinhuangdao, Hebei 066004, PR China;2. Parallel Robot and Mechatronic System Laboratory of Hebei Province, Key Laboratory of Advanced Forging & Stamping Technology and Science of Ministry of National Education, PR China;3. State Key Laboratory of Robotics, Shenyan Institute of Automation, Liaoning 110016, PR China |
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| Abstract: | A novel 5-DoF parallel manipulator (PM) with two composite rotational/linear active legs is proposed and its kinematics and statics are studied systematically. First, a prototype of this PM is constructed and its displacement is analyzed. Second, the formulas are derived for solving the linear/angular velocity and acceleration of UPS composite active leg. Third, the Jacobian and Hessian matrices are derived and formulas for solving the velocity, statics and acceleration of this PM are derived. Third, a reachable work space is constructed using a CAD variation geometric approach. Finally, the kinematics and statics of this PM are illustrated and solved. The solved results are verified by the simulation results. |
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| Keywords: | Parallel manipulator Kinematics Statics Composite active legs |
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