A comparison study of kinematics characteristics of two overconstrained 2-RPU&SPR parallel manipulators (PMs) is introduced in this paper. The two 2-RPU&SPR PMs have the same kinematics properties in terms of one translational degree of freedom (DOF) and two rotational DOFs kinematics outputs. But there are some differences between the two PMs as far as joints distribution is concerned, leading to the differences in respect of workspace and dexterity of the two PMs. Firstly, based on screw theory, the structural characteristics and DOFs of the two PMs are analyzed. Secondly, the inverse and forward displacements problems for the two PMs are formulated by analytic formulae. Some numerical examples are simulated by software. Thirdly, based on algorithm for the direct displacement solution, the workspace characteristics of the two PMs are analyzed and compared. Then, the Jacobian matrices of the mechanisms are formulated. Based on the Jacobian matrices, the dexterities of the two PMs are established and compared. Finally, according to the comparisons of the properties between the two PMs, some useful conclusions are provided.
from #AlexandrosSfakianakis via Alexandros G.Sfakianakis on Inoreader http://ift.tt/2eo6mVZ
via IFTTT
Εγγραφή σε:
Σχόλια ανάρτησης (Atom)
Δημοφιλείς αναρτήσεις
-
from #Medicine-SfakianakisAlexandros via o.lakala70 on Inoreader https://ift.tt/2Gchesc via IFTTT
-
Abstract Determining the cause of unexplained death in all age groups, including infants, is a priority in forensic medicine. The triple r...
-
from #Medicine-SfakianakisAlexandros via o.lakala70 on Inoreader https://ift.tt/2BeOBVJ via IFTTT
-
Abstract Layer-by-layer (LbL) dip coating, accompanying with the use of micelle structure, allows hydrophobic molecules to be coated on me...
-
from #Medicine-SfakianakisAlexandros via o.lakala70 on Inoreader https://ift.tt/2rxuJIO via IFTTT
-
Abstract In this paper we present the study of a skull belonging to a young male from the Italian Bronze Age showing three perimortem inju...
-
Find out more about the wide range of A Levels and full time courses available at Longley Park Sixth Form College, the only independent Sixt...
-
Abstract To measure integral doses in image-guided radiation therapy, we developed an integral condenser dosimeter comprising a disposable...
-
Objectives. To assess the association between short-term postoperative cognitive dysfuction (POCD) and inflammtory response in patients unde...
Δεν υπάρχουν σχόλια:
Δημοσίευση σχολίου