Formulation of unified kinematics for overconstrained Schönflies parallel mechanism using vectorial algebra

Authors :: Zhang, Xing
Yang, Mingxing
Mu, Dejun
Wang, Hongrui
Source :: Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science; 20220101, Issue: Preprints
Publication Year :: 2022
Abstract: This study establishes unified kinematics of Schönflies parallel manipulators (PMs) considering the constraint matrix. Based on vectorial algebra, the kinematics of 4-RRRRR PM is solved using the geometric relation between the links, which solves the PM problem that the vector method could not solve using several kinematic pairs and links. First, the overall Jacobian and Hessian matrices of the Schönflies PM are derived. Then, a complex 4-RRRRR PM was selected and the inverse displacement analysis is performed using a new strategy. The 6 × 6 Jacobian and 6 × 6 × 6 Hessian matrices of the mechanism are deduced. Finally, the kinematics is derived and the results are used to demonstrate the proposed method.

Language :: English
ISSN :: 09544062
Issue :: Preprints
Database :: Supplemental Index
Journal :: Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science
Publication Type :: Periodical
Accession number :: ejs60336089
Full Text :: https://doi.org/10.1177/09544062221097878

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