TY - GEN
T1 - Operation Mode Comparison of Three 1T2R Parallel Mechanisms Based on Geometric Constraints
AU - Liu, Kai
AU - Yu, Jingjun
AU - Liu, Xinjun
N1 - Publisher Copyright:
© 2019 IEEE.
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
U2 - 10.1109/URAI.2019.8768549
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 -