Title: Using CAD variation geometry solving constrained wrench of some limited-dof parallel manipulators

Authors: Yi Lu, Jiayin Xu, Bo Hu, Jianping Yu

Addresses: Robotics Research Centre, College of Mechanical Engineering, Yanshan University, Qinhuangdao, Hebei, 066004, P.R. China. ' Robotics Research Centre, College of Mechanical Engineering, Yanshan University, Qinhuangdao, Hebei, 066004, P.R. China. ' Robotics Research Centre, College of Mechanical Engineering, Yanshan University, Qinhuangdao, Hebei, 066004, P.R. China. ' College of Foreign Studies, Yanshan University, Qinhuangdao, Hebei, 066004, P.R. China

Abstract: A CAD variation geometric approach combined with Newton-Euler formulation is proposed for solving the active and constrained wrench (force/torque) of some parallel manipulators (PMs). First, a Newton-Euler formulation for solving the active and constrained wrench is presented and the poses of constrained wrench are determined. Second, some basic techniques for constructing the simulation mechanism with active and constrained wrench are described. Third, some limited-dof PMs are presented to illustrate to solve their active and constrained wrench. The simulation solved results have been verified by the analytic approach.

Keywords: parallel manipulators; parallel robots; CAD; variation geometry; active wrench; constrained wrench; force; torque; Newton-Euler formulation; simulation.

DOI: 10.1504/IJCAET.2009.026974

International Journal of Computer Aided Engineering and Technology, 2009 Vol.1 No.3, pp.265 - 287

Published online: 12 Jul 2009 *

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