Forward kinematics analysis of parallel mechanisms with restricted workspace
The iterative search method (Newton-Raphson or Quasi-Newton) is an important numerical method for solving the forward kinematics problem of parallel mechanisms. But there may be a failure when the iterative search method solves the forward kinematics problems of a class of mechanisms, whose workspac...
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| Veröffentlicht in: | Proceedings of the Institution of Mechanical Engineers. Part C, Journal of mechanical engineering science Journal of mechanical engineering science, 2015-10, Vol.229 (14), p.2561-2572 |
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| container_title | Proceedings of the Institution of Mechanical Engineers. Part C, Journal of mechanical engineering science |
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| creator | Geng, Mingchao Zhao, Tieshi Wang, Chang Chen, Yuhang Li, Erwei |
| description | The iterative search method (Newton-Raphson or Quasi-Newton) is an important numerical method for solving the forward kinematics problem of parallel mechanisms. But there may be a failure when the iterative search method solves the forward kinematics problems of a class of mechanisms, whose workspace is restricted. The extreme displacement singularity in the limbs is one reason for the workspace restriction. An equivalent method is proposed to remove the extremely displacement singularity in the limbs, and the forward kinematics solutions of two representative 6 degree of freedom mechanisms are given to illustrate the mechanism equivalence. For the coupled fewer degree of freedom mechanisms, the coupled motion is another reason for the workspace restriction. The virtual mechanism method and modified Jacobian matrix method are applied to solve the forward kinematics problems of this class of mechanisms. Numerical examples are given to validate the theories proposed above. |
| doi_str_mv | 10.1177/0954406214560420 |
| format | Article |
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But there may be a failure when the iterative search method solves the forward kinematics problems of a class of mechanisms, whose workspace is restricted. The extreme displacement singularity in the limbs is one reason for the workspace restriction. An equivalent method is proposed to remove the extremely displacement singularity in the limbs, and the forward kinematics solutions of two representative 6 degree of freedom mechanisms are given to illustrate the mechanism equivalence. For the coupled fewer degree of freedom mechanisms, the coupled motion is another reason for the workspace restriction. The virtual mechanism method and modified Jacobian matrix method are applied to solve the forward kinematics problems of this class of mechanisms. 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| ispartof | Proceedings of the Institution of Mechanical Engineers. Part C, Journal of mechanical engineering science, 2015-10, Vol.229 (14), p.2561-2572 |
| issn | 0954-4062 2041-2983 |
| language | eng |
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| source | SAGE Complete A-Z List |
| subjects | Constrictions Degrees of freedom Displacement Kinematics Mathematical analysis Mathematical models Mathematical problems Matrix Mechanical engineering Search methods Singularities |
| title | Forward kinematics analysis of parallel mechanisms with restricted workspace |
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