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RISS 인기검색어
- 검색키워드
- 저자 : Shi-Rong Ge (검색결과 2 건)
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Sensitivity analysis and kinematic calibration of 3-UCR symmetrical parallel robot leg
Gang Cheng,Shi-Rong Ge,Jing-Li Yu 대한기계학회 2011 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.25 No.7
Based on the complete differential-coefficient theory, the model of the pose errors expressed by the Rodrigues Parameters was established. By normalizing all error sources, the statistical model of sensitivity coefficients was obtained. Considering the sensitivity percentages,a kinematic calibration model with the successive approximation algorithm was achieved. The simulation shows that the algorithm is effective to study the calibration question and has concrete directivity, reducing the kinematic errors with high sensitivity percentage when optimizing iteratively.
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Kinematic analysis of a 3SPS+1PS parallel hip joint simulator based on Rodrigues parameters
Gang Cheng,Wei Gu,Shi-Rong Ge 대한기계학회 2012 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.26 No.10
To overcome defects in complex motion simulation and variable dynamic loading of hip joint simulators available in literature, a parallel hip joint simulator with a spatial parallel manipulator as core module is proposed. The simulator has four degrees of freedom (DOFs)including three rotational freedoms which replicate abduction/adduction (AA), flexion/extension (FE) and internal/external rotation (IER)motions in various human motion states and one translational freedom designed for specimen replacement. First, the mobility properties of the simulator were analyzed based on screw theory. Second, its kinematics was analyzed and its active/constrained forces were solved based on Rodrigues parameters. Some analytic formulae were derived for solving the inverse/forward displacements, velocities, accelerations and forces. Third, according to ISO 14242-1:2002(E), a numerical simulation of the inverse kinematics was conducted, the motion configuration scheme of the simulator was determined and the selection of actuators was validated. Then the numerical simulation was validated by an experiment. Finally, higher calculation efficiency of the Rodrigues parameters against the Quaternion was proved. It is shown that the simulator proposed here can replicate motions of a natural hip joint under various motion states via changing control programs but mechanical structure.
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