NDLI: Statics of rotational 3-UPU parallel mechanisms based on principle of virtual work

Content Provider	IEEE Xplore Digital Library
Author	Zheng Xiangzhou Luo Yougao Deng Zhiyong Bin Hongzan
Copyright Year	2007
Description	Author affiliation: Sch. of Eng. Technol., Huazhong Agric. Univ., Wuhan (Zheng Xiangzhou)
Abstract	Statics of rotational 3-UPU parallel mechanisms (PM) based on principle of virtual work is presented in this paper. The rotational 3-UPU PM is made up of a fixed base and a movable platform interconnected by three identical UPU type limbs, where U and P stand for universal and prismatic joint respectively, and platform can only change its orientation relative to fixed base. Given configuration of PM and force applied on platform, actuating forces in prismatic joints of each limb to keep the PM in static equilibrium can be obtained with formula put forward in this paper. To decide the actuating forces, gravity of platform and three limbs are taken into account and each limb is dissected to three parts. They are piston, cylinder and oil between the piston and the cylinder. There is difference between the actuating forces decided with the method presented in this paper and the ones calculated by using Jacobian matrix. It is thought the method presented in this paper is more accurate than that of Jacobian method. Based on formula in this paper, static simulation of the rotational 3-UPU PM used in compensating platform in deep-ocean mineral mining is worked out finally.
Starting Page	1954
Ending Page	1959
File Size	157020
Page Count	6
File Format	PDF
ISBN	9781424417612
DOI	10.1109/ROBIO.2007.4522466
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2007-12-15
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Kinematics Jacobian matrices Equations Marine vehicles Shipbuilding industry Pistons Parallel robots Agricultural engineering Design engineering Engine cylinders Principle of Virtual Work Statics rotational 3-UPU Parallel Mechanism
Content Type	Text
Resource Type	Article

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