Force analysis of single ring spatial RSUR mechanism based on screw theory

Jixie Gongcheng Xuebao/Journal of Mechanical Engineering

Volumn 47, Issue 13, 2011, Pages 23-28

  Liu, Shichang ^a   Chen, Ziming ^a   Liu, Jingfang ^b   Huang, Zhen ^a  

^a YANSHAN UNIVERSITY   (China)

^b BEIJING UNIVERSITY OF TECHNOLOGY   (China)

Author keywords

Active forces; Complex mechanism; Constraint reactions; Force analysis; Parallel mechanism; Screw theory

Indexed keywords

ACTIVE FORCES; COMPLEX MECHANISMS; CONSTRAINT REACTIONS; FORCE ANALYSIS; PARALLEL MECHANISMS; SCREW THEORY;

KINEMATICS; MECHANISMS; SCREWS;

CONSTRAINT THEORY;

EID: 79961195729     PISSN: 05776686     EISSN: None     Source Type: Journal    
DOI: 10.3901/JME.2011.13.023     Document Type: Article

References (10)

1. GALLARDO J, RICO JM, FRISOLI A, et al. Dynamics of parallel manipulators by means of screw theory [J]. Mechanism and Machine Theory, 2003, 38 (11): 1113-1131.
2. WANG Jinsong, WU Jun, WANG Liping, et al. Simplified strategy of the dynamic model of a 6-UPS parallel kinematic machine for real-time control[J]. Mechanism and Machine Theory, 2007, 42(9): 1119-1140.
3. LU Yi. Using virtual work theory and CAD functionalities for solving active and passive force of spatial parallel manipulators[J]. Mechanism and Machine Theory, 2007, 42(7): 839-858.
4. JAIME G, CARLOS R A, LUIS C, et al. Kinematics and dynamics of 2(3-RPS) manipulators by means of screw theory and the principle of virtual work[J]. Mechanism and Machine Theory, 2008, 43(10): 1281-1294.
5. NOKLEBY S B, FISHER R, PODHORODESKI R P, et al. Force capabilities of redundantly-actuated parallel manipulators [J]. Mechanism and Machine Theory, 2005, 40 (5): 578-599.
6. ZHOU Yulin, LIU Lei, GAO Feng. Full static solving of 3-DOF spherical parallel mechanism 3-RRR[J]. Chinese Journal of Mechanical Engineering, 2008, 44(6): 169-176.
7. ZHAO Yan, HUANG Zhen. Analysis of active forces and constraint reactions of 3-RPS parallel manipulator[J]. Journal of Yanshan University, 2008, 32(4): 299-303.
8. ZHAO Yan, HUANG Zhen. Force analysis of lower-mobility parallel mechanisms with over-constrained couples[J]. Journal of Mechanical Engineering, 2010, 46(5): 15-21.
9. HUANG Zhen, ZHAO Yongsheng, ZHAO Tieshi. Advanced spatial mechanism[M]. Beijing: Higher Education Press, 2006.
10. LIU Jingfang, HUANG Zhen, LI Yanwen. Mobility of the myard 5R linkage involved in "Gogu Problem" [J]. Chinese Journal of Mechanical Engineering, 2009, 22(3): 325-330.