InTech-Kinematic_characteristics_of_3_upu_parallel_manipulator_in_singularity_and_its_application .pdf

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1、KinematicCharacteristicsof3-UPUParallelManipulatorinSingularityandItsApplicationRegularPaper*PengBinbin,LiZengming,WuKaiandSunYuSchoolofMechanicalEngineeringNanjingUniversityofScienceandTechnology,China*CorrespondingauthorE-mail:pbb2001cn@yahoo.com.cnReceived19May2011;Accepted19Aug2011Ab

2、stractThispaperfocusesonthekinematic1.Introductioncharacteristicsofthe3‐UPU(universal‐prismatic‐universal)parallelmanipulatorinoneofsingularAparallelmanipulatortypicallyconsistsofamovingconfigurations.Themotionofthemovingplatformisplatformthatisconnectedtoafixedbasebyseverallimbsanalyzed

3、bychangingthelayoutoftheuniversaljoints.Aorlegs.Becausetheexternalloadcanbesharedbythelayoutofuniversaljointsinthesingularconfigurationisactuators,parallelmanipulatorstendtohavealargeload‐discussedindetailbyderivingthekinematicandcarryingcapacity.Parallelmanipulatorcanbefoundinconstraint

4、equations.Solvingtheequations,thekinematicmanyapplications,suchasairplanesimulators,characteristicsinsuchcaseisobtained.Atthesametimeadjustablearticulatedtrusses,miningmachine,pointingthekinematiccharacteristicsissimulatedbythedevices,highspeedmachiningcenter,andwalkingcommercialsoftware

5、andtheresultsofthesimulationmachines.Oneofthedisadvantagesofparallelverifyit.Basedonthekinematicscharacteristicsofit,themanipulatorsisthedifficultyoftrajectoryplanningapplicationofthesingularconfigurationispresented.mainlyduetosingularconfigurations,inwhichtheAndacompoundlimbwhichcantran

6、slatefreelyalongamanipulatorgainsoneormoredegreesoffreedomandcircularpathispresented.Finally,thesomenew2‐DOFthereforelosesstiffnessofthemobileplatformcompletely.(degreeoffreedom)planarparalleltranslatingThedeterminationoftheseconfigurationsisachallengingmanipulatorswhoseorientationcanrem

7、ainconstantareproblemandhasmotivatedmanyresearcherstostudyputforwardbythecompoundlimb.Thepassivejointsofvarioustechniquesinthisarea.Hunt[1]hasstudiedthethenew2‐DOFplanarparalleltranslatingmanipulatorssingularconfigurationof6/6Stewartparallelrobotandareuniversaljointandthe