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Forward/Reverse Velocity and Acceleration Analyses for a Class of Lower-Mobility Parallel Mechanisms

[+] Author Affiliations
Si J. Zhu, Zhen Huang, Xi J. Guo

Yanshan University, Qinhuangdao, Hebei, China

Paper No. DETC2005-84081, pp. 949-955; 7 pages
  • ASME 2005 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 7: 29th Mechanisms and Robotics Conference, Parts A and B
  • Long Beach, California, USA, September 24–28, 2005
  • Conference Sponsors: Design Engineering Division and Computers and Information in Engineering Division
  • ISBN: 0-7918-4744-6 | eISBN: 0-7918-3766-1
  • Copyright © 2005 by ASME


In the family of lower-mobility (degrees of freedom Nf <6) parallel mechanisms, there is a class of mechanisms whose degrees of freedom equal the number of single-degree-of-freedom pairs in each limb. This paper proposes a novel forward/reverse kinematic analyses method for this class of mechanisms, which can build Nf ×Nf square Jacobian matrix and Nf ×Nf ×Nf cubic Hessian matrix. Thus both forward/reverse velocity and acceleration analyses for this class of mechanisms are derivable. In this method, the formulas for different parallel mechanisms have unified forms and consequently the method is convenient for programming. The more complicated the mechanism is (for instance, the mechanism has more kinematic pairs), the more effective the method is. In the rear part of the paper, a 5-DOF mechanism 3-RCRR is analyzed as an example.

Copyright © 2005 by ASME



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