| contributor author | Li, Xiao;Qu, Haibo;Guo, Sheng | |
| date accessioned | 2022-12-27T23:15:53Z | |
| date available | 2022-12-27T23:15:53Z | |
| date copyright | 6/23/2022 12:00:00 AM | |
| date issued | 2022 | |
| identifier issn | 1942-4302 | |
| identifier other | jmr_15_2_021014.pdf | |
| identifier uri | http://yetl.yabesh.ir/yetl1/handle/yetl/4288248 | |
| description abstract | In this paper, a new 3-RPS (the limb consisting of one revolute, one prismatic, and one spherical joint)/US (universal joint and spherical joint) parallel mechanism with two degrees-of-freedom (DOFs) is obtained by adding a US passive limb into the 3-RPS parallel mechanism with the aim of obtaining a high load-bearing capacity. The moving platform possesses two rotational motions, analyzed by the Grassmann line geometry and screw theory. Then, the kinematic performance of the mechanism is analyzed, including inverse kinematics, overall Jacobian matrix, workspace, and singularity. On this basis, the mapping between the driving force and the load on the moving platform is deduced and verified by simulation. Next, the static of the proposed parallel mechanism is compared with that of the 3-RPS mechanism. The results show that the load-bearing capacity of the mechanism is improved by introducing the US passive limb. Finally, a case study verifies the potential application of the mechanism as a dual-axis tracking photovoltaic bracket. | |
| publisher | The American Society of Mechanical Engineers (ASME) | |
| title | Kinematic Performance and Static Analysis of a Two-Degree-of-Freedom 3-RPS/US Parallel Manipulator With Two Passive Limbs | |
| type | Journal Paper | |
| journal volume | 15 | |
| journal issue | 2 | |
| journal title | Journal of Mechanisms and Robotics | |
| identifier doi | 10.1115/1.4054767 | |
| journal fristpage | 21014 | |
| journal lastpage | 21014_12 | |
| page | 12 | |
| tree | Journal of Mechanisms and Robotics:;2022:;volume( 015 ):;issue: 002 | |
| contenttype | Fulltext | |
