Using CAD variation geometry solving constrained wrench of some limited-dof parallel manipulators. (13th July 2009)

• Record Type: Journal Article
• Authors: Lu, Yi; Xu, Jiayin; Hu, Bo; Yu, Jianping
• Is Part Of: International journal of computer aided engineering and technology. Volume 1:Number 3(2009)
• Page Start: 265
• Page End: 287
• Publication Date: 2009-07-13
• Subjects: parallel manipulators -- parallel robots -- CAD -- variation geometry -- active wrench -- constrained wrench -- force -- torque -- Newton-Euler formulation -- simulation; Computer-aided engineering -- Periodicals; 620.00285
• Languages: English
• ISSNs: 1757-2657

Abstract

A CAD variation geometric approach combined with Newton-Euler formulation is proposed for solving the active and constrained wrench (force/torque) of some parallel manipulators (PMs). First, a Newton-Euler formulation for solving the active and constrained wrench is presented and the poses of constrained wrench are determined. Second, some basic techniques for constructing the simulation mechanism with active and constrained wrench are described. Third, some limited-dof PMs are presented to illustrate to solve their active and constrained wrench. The simulation solved results have been verified by the analytic approach.