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Shi Z.X.,Nanchang Hangkong University | Shi Z.X.,Nanchang University | Ye M.Y.,Nanchang University | Luo Y.F.,Nanchang University | Yang T.L.,Jinling Petrochemical Corporation
Applied Mechanics and Materials

This paper presents a simple and systematic modular approach for kinematic analysis of complicated Parallel Kinematic Manipulators (in short, PKMs) which coupled degrees are more than 2. (1) Single open chains (in short, SOCs) may be regarded as the basic modules of a PKM. Any PKM can always be decomposed automatically into a set of ordered SOCs, and these SOCs can also be used to recognize the basic kinematic chains contained in it. (2) The kinematic analysis algorithms and the compatibility conditions of the SOC modules are offered. (3) Directly applying the above SOC kinematic modules, the kinematic equations of a PKM can be automatically established. (4) In order to solve kinematic equations of complicated parallel manipulators which coupled degrees are more than 2, a new searching algorithm which requires no initial guess has been presented. The procedural approach is demonstrated in parallel manipulators. © Trans Tech Publications. Source

Wang W.,Tianjin Polytechnic University | Feng Z.,Tianjin Polytechnic University | Yang T.,Jinling Petrochemical Corporation | Zhang C.,Tianjin University
Applied Mechanics and Materials

Inverse dynamic equations of the 2UPS-2RPS mechanism are formulated by utilizing the virtual work principle. Kinematic analysis of the mechanism is presented, on the basis of which the Jacobian matrices of the limbs and the mechanism are deduced. By combining the dynamics of the limbs and the moving-platform, the inverse dynamic model of the mechanism is obtained. Finally a computer simulation is carried out to demonstrate the dynamic analysis of the moving platform. © (2010) Trans Tech Publications, Switzerland. Source

Yang T.-L.,Changzhou University | Yang T.-L.,Jinling Petrochemical Corporation | Liu A.-X.,PLA University of Science and Technology | Shen H.-P.,Changzhou University | And 3 more authors.
Journal of Mechanisms and Robotics

Position and orientation characteristic (POC) equations for topological structure synthesis of serial and parallel mechanisms were proposed in a published paper by the authors. This paper will further prove the correctness and strictness of the theoretical foundation for POC equations and also be a reply to the reviewers of our follow-up papers. The main contents of this paper include: symbolic representation of mechanism topological structure and its invariance, velocity characteristic (VC) set and POC set of link and its invariance, one-to-one correspondence between elements of the VC set and POC set, POC equations for the serial mechanism and 10 corresponding "union" operation rules, and POC equations for the parallel mechanism and 14 corresponding "intersection" operation rules. In addition, the interrelations and differences among three methods (POC set based method, screw theory based method, and displacement subgroup based method) for mechanism topological structure design are concluded. [DOI: 10.1115/1.4023871]. ©2013 by ASME. Source

Shi Z.,Nanchang University | Ye M.,Nanchang University | Mao Z.,Nanchang University | Luo Y.,Nanchang University | Yang T.,Jinling Petrochemical Corporation
Nongye Jixie Xuebao/Transactions of the Chinese Society for Agricultural Machinery

A simple method for forward displacement analysis of a kind of 5-5 in-parallel robot is presented, after its structural characteristic has been disclosed. First of all, the parallel robot was decomposed into three single-opened chains (SOCs). Secondly, the dimension of its kinematic equations was reduced to the minimum by considering kinematic model of the three single-opened chains. Then, all the real solutions to the kinematic equations were obtained using one-dimension searching algorithm. At last, a numerical example with 20 real solutions was given for the first time and provided to confirm the efficiency of the solution procedure. Source

Yang T.,Jinling Petrochemical Corporation | Liu A.,PLA University of Science and Technology | Luo Y.,Nanchang University | Hang L.,Shanghai University of Engineering Science | And 2 more authors.
Jixie Gongcheng Xuebao/Journal of Mechanical Engineering

Basic principles and characteristics of three structural synthesis methods (based on screw theory, displacement subgroup and position orientation characteristics (POC) respectively) for robot mechanism are described and compared. This comparative study shows that the method based on POC has the following notable advantages: The obtained mechanism is non-instantaneous mechanism and the DOF is full-cycle DOF. Existence condition of the obtained mechanism is more general (relative to screw theory based method). The basic structural equations reveal the explicit mapping relations among topological structure, POC and DOF of mechanisms. Much less operation rules are required and all types of mechanisms are covered (relative to displacement subgroup based method). The conclusion is that the POC based method is an effective new one for creative mechanism topological structure design. It is an important research field to establish a systematic theory integrating topological structure, kinematics and dynamics of mechanisms based on a single open-chain unit. ©2010 Journal of Mechanical Engineering. Source

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