| contributor author | Dan Zhang | |
| contributor author | Clément M. Gosselin | |
| date accessioned | 2017-05-09T00:05:31Z | |
| date available | 2017-05-09T00:05:31Z | |
| date copyright | September, 2001 | |
| date issued | 2001 | |
| identifier issn | 1050-0472 | |
| identifier other | JMDEDB-27699#375_1.pdf | |
| identifier uri | http://yetl.yabesh.ir/yetl/handle/yetl/125610 | |
| description abstract | This paper introduces several new types of parallel mechanisms with prismatic actuators whose degree of freedom is dependent on a constraining passive leg connecting the base and the platform. A general kinetostatic model is established for the analysis of the structural rigidity and accuracy of this family of mechanisms. The geometric model of this class of mechanisms is first introduced. Then, a lumped kinetostatic model is proposed in order to account for joint and link compliances. Additionally, the inverse kinematics and velocity equations are given for both rigid-link and flexible-link mechanisms. Finally, a few examples are given to illustrate the results. | |
| publisher | The American Society of Mechanical Engineers (ASME) | |
| title | Kinetostatic Modeling of N-DOF Parallel Mechanisms With a Passive Constraining Leg and Prismatic Actuators | |
| type | Journal Paper | |
| journal volume | 123 | |
| journal issue | 3 | |
| journal title | Journal of Mechanical Design | |
| identifier doi | 10.1115/1.1370976 | |
| journal fristpage | 375 | |
| journal lastpage | 381 | |
| identifier eissn | 1528-9001 | |
| keywords | Actuators | |
| keywords | Jacobian matrices | |
| keywords | Stiffness | |
| keywords | Modeling | |
| keywords | Degrees of freedom | |
| keywords | Equations | |
| keywords | Kinematics AND Velocity | |
| tree | Journal of Mechanical Design:;2001:;volume( 123 ):;issue: 003 | |
| contenttype | Fulltext | |