Kinetostatic Analysis of 4-R(CRR) Parallel Manipulator with Overconstraints via Reciprocal-Screw Theory
Kinetostatic Analysis of 4-R(CRR) Parallel Manipulator with Overconstraints via Reciprocal-Screw Theory
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DOI：
10.1155/2010/404960
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发表时间：
2010
影响因子：
2.1
通讯作者：
Zhen Huang;Y. Zhao;Jingfang Liu
中科院分区：
文献类型：
--
作者：
Zhen Huang;Y. Zhao;Jingfang Liu
提出了一种基于倒螺旋理论的分析具有过约束和静不定的少自由度并联机构运动静力学的新方法。并联机构的受力分析，首先要求解主要反力，然后才容易求出其它所有约束反力。该方法可以显著减少未知量的数目，并保持每次联立平衡方程的数目不超过6个。对于静力不确定性，还需要建立一些补充方程。通过逐一分析各运动副的平衡，可以同时得到各运动副的作用力和约束反力。以具有共线力静不定的4-R（CRR）并联机器人为例，介绍了该方法，结果表明该方法简单有效。
The paper proposes a new approach based on reciprocal screw theory to analyze kinetostatics of lower-mobility parallel mechanisms with overconstraints and static indeterminacy. For force analysis of parallel mechanisms, the main reactions should be solved firstly, and then all other constraint reactions are easy to be obtained. The approach can remarkably reduce the number of unknowns and keep the number of simultaneous equilibrium equations not more than six each time. For static indeterminacy, it also needs to set some complementary equations. All active forces and constraint reactions of the kinematic pairs can be simultaneously obtained by analyzing the equilibrium of everybody one by one. A 4-R(CRR) parallel manipulator with collinear-force static indeterminacy is taken to introduce the method, which indicates that the method is simple and effective.