By Topic

Analysis on Kinematics and Dynamics Performance indices for 6-PUS Parallel Robot Mechanism

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
Shihui Zhang ; Yanshan Univ., Qinhuangdao ; Lingfu Kong

Influence coefficient matrix changes with configuration of the mechanism. 121 mechanisms, which are called a mechanism group, are gotten by changing 6-PUS mechanism's dimension. Then the performance indices of kinematics and dynamics for 6-PUS parallel robot mechanism with different dimension are studied by considering both the first and the second order influence coefficient matrix of different sample point in every mechanism's workspace. This breaks through the restriction due to considering only the first order influence coefficient matrix in the past. Furthermore, the paper also discusses the performance differences of mechanisms with different dimension by the atlas of global performance index and validates them. The proposed methods may offer reference for designing parallel robot mechanism of this type with good performance.

Published in:

Networking, Sensing and Control, 2007 IEEE International Conference on

Date of Conference:

15-17 April 2007