• 主题
高级搜索  >
历史搜索 清空历史
首页> 外文期刊>Mechanism and Machine Theory: Dynamics of Machine Systems Gears and Power Trandmissions Robots and Manipulator Systems Computer-Aided Design Methods >Configuration bifurcation and self-motion analysis of 3SPS+1PS bionic parallel test platform for hip joint simulator
【24h】

Configuration bifurcation and self-motion analysis of 3SPS+1PS bionic parallel test platform for hip joint simulator

机译：髋关节模拟器3SPS + 1PS仿生并行测试平台的配置分叉和自运动分析

获取原文
获取原文并翻译 | 示例
           
页面导航
  • 摘要
  • 著录项
  • 相似文献
  • 相关主题

摘要

A hip joint simulator with a 3SPS + 1PS spatial parallel manipulator as the core module is proposed. Compared to traditional serial test platform, it brings better performance, as also as its inherent defect-singularity. In order to analyze the motion behavior of the manipulator near singular points, the entire configuration paths corresponding to single input parameter, are traced with the help of the closed-form solution of the forward position. The investigation reveals the reason to cause forward singularity and uncontrolled degree-of-freedom (DOF) of the manipulator, and it is verified by 3-Dmotion simulation. Then, a Configuration Stability Index is proposed to measure the controllability of DOF and a qualitative and quantitative analysis of self-motion is presented using its equivalent motion. The results indicate that: at all six bifurcation points, the uncontrolled DOFs show a similar direction to Z-axis, with slightly offsets to the other two axes. It means that the platform has an unstable rotation around Z-axis and a weak load-ability in that direction. Moreover, the direction of uncontrolled DOF almost stays constant under different control precisions. The research provides an analytical basis to achieve the certain motions at singular points and improve the motion stability for parallel manipulator. (C) 2014 Elsevier Ltd. All rights reserved.
机译：提出了一种以3SPS + 1PS空间并行操纵器为核心模块的髋关节模拟器。与传统的串行测试平台相比，它具有更好的性能以及固有的缺陷奇异性。为了分析机械手在奇异点附近的运动行为，借助于前向位置的闭式解，可以跟踪与单个输入参数对应的整个配置路径。研究揭示了造成机械手正向奇异性和不受控制的自由度（DOF）的原因，并通过3-Dmotion仿真进行了验证。然后，提出了一种构型稳定性指数来测量自由度的可控性，并利用其等效运动对自运动进行了定性和定量分析。结果表明：在所有六个分叉点处，不受控制的自由度显示出与Z轴相似的方向，但与其他两个轴略有偏移。这意味着平台绕Z轴的旋转不稳定，并且在该方向上的承载能力较弱。此外，在不同的控制精度下，不受控制的自由度的方向几乎保持恒定。该研究为实现并联点的某些运动和提高运动稳定性提供了分析依据。 （C）2014 Elsevier Ltd.保留所有权利。

著录项

相似文献

  • 外文文献
  • 专利
获取原文

客服邮箱：kefu@zhangqiaokeyan.com

京公网安备：11010802029741号 ICP备案号：京ICP备15016152号-6 六维联合信息科技 (北京) 有限公司©版权所有

  • 客服微信

  • 服务号