Optics and Precision Engineering, Volume. 28, Issue 1, 151(2020)

Displacement input coordination of Stewart derivative parallel mechanism with analytical positive solution

YE Peng-da1,*... YOU Jing-jing1,2, SHEN Hui-ping3, WU Hong-tao2,4 and RU Yu1 |Show fewer author(s)
Author Affiliations
  • 1[in Chinese]
  • 2[in Chinese]
  • 3[in Chinese]
  • 4[in Chinese]
  • show less
    References(26)

    [1] [1] STEWART D. A platform with six degrees of freedom[J]. Proceedings of the Institution of Mechanical Engineersing, 1965, 180(15): 371-386.

    [3] [3] DINER , EVIK M. Improved trajectory planning of an industrial parallel mechanism by a composite polynomial consisting of Bézier curves and cubic polynomials [J]. Mechanism and Machine Theory, 2019, 132: 248-263.

    [4] [4] LU Q P, LI Y J, PENG ZH Q, et al.. Forward kinematics of six-bar parallel mechanism and its applications in synchrotron radiation beam-line [J]. Opt. Precision Eng., 2008, 16(10): 1874-1879. (in Chinese)

    [5] [5] DINH T Q, YOON J I, MARCO J, et al.. Sensorless force feedback joystick control for teleoperation of construction equipment [J]. International Journal of Precision Engineering and Manufacturing, 2017, 18(7): 955-969.

    [6] [6] YOU J J, YE P D, CHELLALI R, et al.. Forward kinematics and compatibility equations of a joystick based on a 12-6 Stewart redundant parallel mechanism [C]//RO-MAN 2018-27th IEEE International Symposium on Robot and Human Interactive Communication, Nanjing, 2018: 928-933.

    [7] [7] SHEN H P, XU K, YANG T L, et al.. Design and kinematics for a not-fully symmetric 3T1R parallel mechanism with low coupling-degrees[J]. China Mechanical Engineering, 2018, 29(2): 166-176. (in Chinese)

    [8] [8] HUANG ZH, ZHAO Y SH, ZHAO T SH. Advanced Spatial Mechanism[M]. Beijing: Higher Education Press, 2006. (in Chinese)

    [11] [11] HUANG X G, LIAO Q ZH, WEI SH M, et al.. Forward kinematics analysis of the general 6-6 platform parallel mechanism based on algebraic elimination [J]. Journal of Mechanical Engineering, 2009, 45(1): 56-61. (in Chinese)

    [12] [12] WEI F, WEI SH M, ZHANG Y, et al.. Algebraic solution for the forward displacement analysis of the general 6-6 Stewart mechanism[J]. Chinese Journal of Mechanical Engineering, 2016, 29(1): 56-62.

    [13] [13] JIANG H, JIA R, DONG H ZH, et al.. Positional solution of a six-degree of freedom parallel robot[J]. Journal of Shanghai Jiaotong University, 2000, 34(3): 351-353. (in Chinese)

    [14] [14] XUE J, TANG ZH Y, PEI ZH C. Numerical method of forward position solution for 6-3 Stewart platform based on mechanism simplification[J]. Journal of Beijing University of Aeronautics and Astronautics, 2014, 40(7): 921-926. (in Chinese)

    [15] [15] GENG M CH, ZHAO T SH, WANG CH, et al.. Direct position analysis of parallel mechanism based on quasi-Newton method [J].Journal of Mechanical Engineering, 2015, 51(9): 28-36. (in Chinese)

    [16] [16] YANG X L, WU H T, LI Y, et al.. A dual quaternion solution to the forward kinematics of a class of six-DOF parallel robots with full or reductant actuation [J]. Mechanism and Machine Theory, 2017, 107: 27-36.

    [17] [17] YE P D, YOU J J, SHEN H P, et al.. Semi-analytic algorithm for forward displacement analysis of six links Stewart derivative configurations[J]. Transactions of the Chinese Society for Agricultural Machinery, 2019, 50(4): 393-400. (in Chinese)

    [18] [18] KIM J S, JEONG Y H, PARK J H. A geometric approach for forward kinematics analysis of a 3-SPS/S redundant motion manipulator with an extra sensor using conformal geometric algebra[J]. Meccanica, 2016, 51(10): 2289-2304.

    [19] [19] SHEN H P, YIN H B, WANG ZH, et al.. Research on forward position solutions for 6-SPS parallel mechanisms based on topology structure analysis[J]. Journal of Mechanical Engineering, 2013, 49(21): 70-80. (in Chinese)

    [20] [20] LIU X F, YAO J T, ZHAO Y SH. Model-based synchronous control of redundantly actuated parallel manipulator with neural network [J]. Transactions of the Chinese Society for Agricultural Machinery, 2018, 49(2): 367-375. (in Chinese)

    [21] [21] YOU J J, FU ZH ZH, WU H T, et al.. Forward kinematics of general 12-6 Stewart redundant parallel mechanism [J]. Transactions of the Chinese Society for Agricultural Machinery, 2017, 48(12): 395-402. (in Chinese)

    [22] [22] ZHOU X, XU Y D, YAO J T, et al.. Internal force analysis and coordination of a 5-UPS/PRPU redundantly actuated parallel mechanism[J]. China Mechanical Engineering, 2016, 27(6): 711-717. (in Chinese)

    [23] [23] NOURI R A B, FARID M, MAHZOON M. Redundancy resolution and control of a novel spatial parallel mechanism with kinematic redundancy [J]. Mechanism and Machine Theory, 2019, 133: 112-126.

    [24] [24] SCHREIBER L T, GOSSELIN C. Exploiting the kinematic redundancy of a (6+3) degrees-of-freedom parallel mechanism[J]. Journal of Mechanisms and Robotics, 2019, 11(2): 1-18.

    [25] [25] YOU J J, YOU T Y. A kind of composite spherical pair. Nanjing Forestry University, CN11003 9570A [P]. 2019-07-23. (in Chinese)

    [26] [26] YOU J J, QIU X, WANG L K, et al.. A kind of convertible master-slave output prismatic pair. Nanjing Forestry University, CN110159718A [P].2019-08-23. (in Chinese)

    [27] [27] LI Q Y, MO Z ZH, QI L Q. Numerical Solution of the Nonlinear Equations[M]. Beijing: Science Press, 1987. (in Chinese)

    Tools

    Get Citation

    Copy Citation Text

    YE Peng-da, YOU Jing-jing, SHEN Hui-ping, WU Hong-tao, RU Yu. Displacement input coordination of Stewart derivative parallel mechanism with analytical positive solution[J]. Optics and Precision Engineering, 2020, 28(1): 151

    Download Citation

    EndNote(RIS)BibTexPlain Text
    Save article for my favorites
    Paper Information

    Category:

    Received: Sep. 23, 2019

    Accepted: --

    Published Online: Mar. 25, 2020

    The Author Email: Peng-da YE (yepengda@126.com)

    DOI:10.3788/ope.20202801.0151

    Topics