Operation Mode Comparison of Three 1T2R Parallel Mechanisms Based on Geometric Constraints

Kai Liu; Jingjun Yu; Xinjun Liu

doi:10.1109/URAI.2019.8768549

Operation Mode Comparison of Three 1T2R Parallel Mechanisms Based on Geometric Constraints

Kai Liu
, Jingjun Yu^*
, Xinjun Liu

^*Corresponding author for this work

School of Mechanical Engineering and Automation

Beihang University
Tsinghua University

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

1 Scopus citations

Abstract

this paper attempts to compare operation modes of three one translational and two rotational (1T2R) zero-torsion parallel mechanisms (PMs), 3-PSP PM, 3-RPS PM and 3-SPR PM, using dual quaternions and geometric constraints. At first, the geometric constraints of their limbs are presented based on motion characteristics. Then, constraint equations of these mechanisms are obtained according to dual quaternions in combination with geometric constraints of their limbs. The operation mode analysis of these three mechanisms is thus carried out by prime decompositions. And the kinematic interpretation of their operation modes is presented. Finally, the axodes of 3-PSP PM, 3-RPS PM and 3-SPR PM are drawn to character and compare their operation modes. The results reveal motion characteristics of these mechanisms.

Original language	English
Title of host publication	2019 16th International Conference on Ubiquitous Robots, UR 2019
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	137-142
Number of pages	6
ISBN (Electronic)	9781728132327
DOIs	https://doi.org/10.1109/URAI.2019.8768549
State	Published - Jun 2019
Event	16th International Conference on Ubiquitous Robots, UR 2019 - Jeju, Korea, Republic of Duration: 24 Jun 2019 → 27 Jun 2019

Publication series

Name	2019 16th International Conference on Ubiquitous Robots, UR 2019

Conference

Conference	16th International Conference on Ubiquitous Robots, UR 2019
Country/Territory	Korea, Republic of
City	Jeju
Period	24/06/19 → 27/06/19

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10.1109/URAI.2019.8768549

Cite this

Liu, K., Yu, J., & Liu, X. (2019). Operation Mode Comparison of Three 1T2R Parallel Mechanisms Based on Geometric Constraints. In 2019 16th International Conference on Ubiquitous Robots, UR 2019 (pp. 137-142). Article 8768549 (2019 16th International Conference on Ubiquitous Robots, UR 2019). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/URAI.2019.8768549

@inproceedings{52e96de70b0d4160b868b7d3ec5d233d,

title = "Operation Mode Comparison of Three 1T2R Parallel Mechanisms Based on Geometric Constraints",

abstract = "this paper attempts to compare operation modes of three one translational and two rotational (1T2R) zero-torsion parallel mechanisms (PMs), 3-PSP PM, 3-RPS PM and 3-SPR PM, using dual quaternions and geometric constraints. At first, the geometric constraints of their limbs are presented based on motion characteristics. Then, constraint equations of these mechanisms are obtained according to dual quaternions in combination with geometric constraints of their limbs. The operation mode analysis of these three mechanisms is thus carried out by prime decompositions. And the kinematic interpretation of their operation modes is presented. Finally, the axodes of 3-PSP PM, 3-RPS PM and 3-SPR PM are drawn to character and compare their operation modes. The results reveal motion characteristics of these mechanisms.",

author = "Kai Liu and Jingjun Yu and Xinjun Liu",

note = "Publisher Copyright: {\textcopyright} 2019 IEEE.; 16th International Conference on Ubiquitous Robots, UR 2019 ; Conference date: 24-06-2019 Through 27-06-2019",

year = "2019",

month = jun,

doi = "10.1109/URAI.2019.8768549",

language = "英语",

series = "2019 16th International Conference on Ubiquitous Robots, UR 2019",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "137--142",

booktitle = "2019 16th International Conference on Ubiquitous Robots, UR 2019",

address = "美国",

}

Liu, K, Yu, J & Liu, X 2019, Operation Mode Comparison of Three 1T2R Parallel Mechanisms Based on Geometric Constraints. in 2019 16th International Conference on Ubiquitous Robots, UR 2019., 8768549, 2019 16th International Conference on Ubiquitous Robots, UR 2019, Institute of Electrical and Electronics Engineers Inc., pp. 137-142, 16th International Conference on Ubiquitous Robots, UR 2019, Jeju, Korea, Republic of, 24/06/19. https://doi.org/10.1109/URAI.2019.8768549

Operation Mode Comparison of Three 1T2R Parallel Mechanisms Based on Geometric Constraints. / Liu, Kai; Yu, Jingjun; Liu, Xinjun.
2019 16th International Conference on Ubiquitous Robots, UR 2019. Institute of Electrical and Electronics Engineers Inc., 2019. p. 137-142 8768549 (2019 16th International Conference on Ubiquitous Robots, UR 2019).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Operation Mode Comparison of Three 1T2R Parallel Mechanisms Based on Geometric Constraints

AU - Liu, Kai

AU - Yu, Jingjun

AU - Liu, Xinjun

PY - 2019/6

Y1 - 2019/6

N2 - this paper attempts to compare operation modes of three one translational and two rotational (1T2R) zero-torsion parallel mechanisms (PMs), 3-PSP PM, 3-RPS PM and 3-SPR PM, using dual quaternions and geometric constraints. At first, the geometric constraints of their limbs are presented based on motion characteristics. Then, constraint equations of these mechanisms are obtained according to dual quaternions in combination with geometric constraints of their limbs. The operation mode analysis of these three mechanisms is thus carried out by prime decompositions. And the kinematic interpretation of their operation modes is presented. Finally, the axodes of 3-PSP PM, 3-RPS PM and 3-SPR PM are drawn to character and compare their operation modes. The results reveal motion characteristics of these mechanisms.

AB - this paper attempts to compare operation modes of three one translational and two rotational (1T2R) zero-torsion parallel mechanisms (PMs), 3-PSP PM, 3-RPS PM and 3-SPR PM, using dual quaternions and geometric constraints. At first, the geometric constraints of their limbs are presented based on motion characteristics. Then, constraint equations of these mechanisms are obtained according to dual quaternions in combination with geometric constraints of their limbs. The operation mode analysis of these three mechanisms is thus carried out by prime decompositions. And the kinematic interpretation of their operation modes is presented. Finally, the axodes of 3-PSP PM, 3-RPS PM and 3-SPR PM are drawn to character and compare their operation modes. The results reveal motion characteristics of these mechanisms.

UR - https://www.scopus.com/pages/publications/85070548657

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DO - 10.1109/URAI.2019.8768549

M3 - 会议稿件

AN - SCOPUS:85070548657

T3 - 2019 16th International Conference on Ubiquitous Robots, UR 2019

SP - 137

EP - 142

BT - 2019 16th International Conference on Ubiquitous Robots, UR 2019

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 16th International Conference on Ubiquitous Robots, UR 2019

Y2 - 24 June 2019 through 27 June 2019

ER -

Operation Mode Comparison of Three 1T2R Parallel Mechanisms Based on Geometric Constraints

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