http://chineseinput.net/에서 pinyin(병음)방식으로 중국어를 변환할 수 있습니다.
변환된 중국어를 복사하여 사용하시면 됩니다.
- 中文 을 입력하시려면 zhongwen을 입력하시고 space를누르시면됩니다.
- 北京 을 입력하시려면 beijing을 입력하시고 space를 누르시면 됩니다.
RISS 인기검색어
- 검색키워드
- 저자 : Chenyang Rao (검색결과 1 건)
- 무료
- 기관 내 무료
- 유료
-
Chenyang Rao,Lingmin Xu,Qiaohong Chen,Wei Ye 대한기계학회 2021 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.35 No.6
The orientation ability and accuracy of parallel kinematic machines (PKMs) with two rotational and one translational outputs (2R1T) can be improved with the mechanical structures of 2R1T PKMs with limited degrees of freedom (DOF) limbs, fewer single-DOF joints, and no spherical joints. However, few existing 2R1T PKMs satisfy these conditions. This study proposes a new over-constrained 2UPR-PRU (where U, P, and R represent universal, actuated prismatic, and revolute joints, respectively) PKM with 2R1T DOFs with three limited-DOF limbs, no spherical joints, only 12 single-DOF joints, and one fixed motor. First, mobility, inverse displacement, and singularity analysis are carried out. Inverse dynamic models of the PKM are then established based on screw theory. Velocities, accelerations of limbs and moving platform, and actuation forces are derived. Simulation is carried out to verify the dynamic model, including the comparisons of actuation velocities, accelerations, and forces. Rotational and translational dynamic manipulability ellipsoid indices of the PKM in different operational heights are evaluated. The proposed PKM has good potential for machining work pieces with curved surfaces.
연관 검색어 추천
이 검색어로 많이 본 자료
활용도 높은 자료
