| contributor author | Wu, Jun | |
| contributor author | Zhang, Binbin | |
| contributor author | Wang, Liping | |
| date accessioned | 2017-05-09T01:31:17Z | |
| date available | 2017-05-09T01:31:17Z | |
| date issued | 2016 | |
| identifier issn | 1942-4302 | |
| identifier other | jmr_008_02_021001.pdf | |
| identifier uri | http://yetl.yabesh.ir/yetl/handle/yetl/161880 | |
| description abstract | The paper deals with the evaluation of acceleration of redundant and nonredundant parallel manipulators. The dynamic model of three degreesoffreedom (3DOF) parallel manipulator is derived by using the virtual work principle. Based on the dynamic model, a measure is proposed for the acceleration evaluation of the redundant parallel manipulator and its nonredundant counterpart. The measure is designed on the basis of the maximum acceleration of the mobile platform when one actuated joint force is unit and other actuated joint forces are less than or equal to a unit force. The measure for evaluation of acceleration can be used to evaluate the acceleration of both redundant parallel manipulators and nonredundant parallel manipulators. Furthermore, the acceleration of the 4PSSPU parallel manipulator and its nonredundant counterpart are compared. | |
| publisher | The American Society of Mechanical Engineers (ASME) | |
| title | A Measure for Evaluation of Maximum Acceleration of Redundant and Nonredundant Parallel Manipulators | |
| type | Journal Paper | |
| journal volume | 8 | |
| journal issue | 2 | |
| journal title | Journal of Mechanisms and Robotics | |
| identifier doi | 10.1115/1.4031500 | |
| journal fristpage | 21001 | |
| journal lastpage | 21001 | |
| identifier eissn | 1942-4310 | |
| tree | Journal of Mechanisms and Robotics:;2016:;volume( 008 ):;issue: 002 | |
| contenttype | Fulltext | |