| Research on the operating characteristics of parallel 4-DOF electric platform with 4TPS-PS structure |
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| 作者姓名： | CHENG Jia WANG Xuan-yin FU Xiao-jie LI Qiang |
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| 作者单位： | The State Key Laboratory of Fluid Power Transmission and Control，Zhejiang University，Hangzhou 310027，China |
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| 基金项目： | Project （N01 50375139） supported by the National Natural Science Foundation of China |
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| 摘 要： | The 4TPS-PS parallel platform designed for a stabilization and automatic tracking system is a novel lower-mobility parallel mechanism. In the first part of this paper, the structure of the platform is described and the kinematics model is built. The workspace of the platform is defined as the full reachable rotation workspace when the Z coordinate dimension of the upper plate varies continuously. A fast searching method of the full reachable workspace is presented, after which the inverse kinematics of the platform is deduced. The forward and inverse solutions of the speed and force of the platform are deduced. According to the characteristic of the 4TPS-PS platform’s structure, a fast searching algorithm of the maximum generalized speed and maximum generalized force output by the upper plate is put forward based on the forward and inverse solutions of the platform’s speed and force. The 4TPS-PS platform prototype built by the State Key Laboratory of Fluid Power Transmission and Control of China is taken as the research subject. The full reachable rotation workspace of the prototype is computed out and analyzed. The curves of maximum generalized speed and maximum generalized force of the prototype are computed out and plotted. Finally, the com- puting and analyzing results of the operating characteristics are confirmed through the experiment.
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| 关 键 词： | 并行机械装置 4-DOF 转动速度 总合成力 |
| 收稿时间： | 29 November 2006 |
| 修稿时间： | 2006-11-29 |
Research on the operating characteristics of parallel 4-DOF electric platform with 4TPS-PS structure |
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| CHENG Jia WANG Xuan-yin FU Xiao-jie LI Qiang.Research on the operating characteristics of parallel 4-DOF electric platform with 4TPS-PS structure[J].Journal of Zhejiang University Science,2007,8(11):1800-1807. |
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| Authors: | Cheng Jia Wang Xuan-yin Fu Xiao-jie Li Qiang |
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| Institution: | (1) The State Key Laboratory of Fluid Power Transmission and Control, Zhejiang University, Hangzhou, 310027, China |
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| Abstract: | The 4TPS-PS parallel platform designed for a stabilization and automatic tracking system is a novel lower-mobility parallel
mechanism. In the first part of this paper, the structure of the platform is described and the kinematics model is built.
The workspace of the platform is defined as the full reachable rotation workspace when the Z coordinate dimension of the upper plate varies continuously. A fast searching method of the full reachable workspace is presented,
after which the inverse kinematics of the platform is deduced. The forward and inverse solutions of the speed and force of
the platform are deduced. According to the characteristic of the 4TPS-PS platform’s structure, a fast searching algorithm
of the maximum generalized speed and maximum generalized force output by the upper plate is put forward based on the forward
and inverse solutions of the platform’s speed and force. The 4TPS-PS platform prototype built by the State Key Laboratory
of Fluid Power Transmission and Control of China is taken as the research subject. The full reachable rotation workspace of
the prototype is computed out and analyzed. The curves of maximum generalized speed and maximum generalized force of the prototype
are computed out and plotted. Finally, the computing and analyzing results of the operating characteristics are confirmed
through the experiment.
Project (No. 50375139) supported by the National Natural Science Foundation of China |
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| Keywords: | Parallel mechanism 4-DOF Workspace Generalized speed Generalized force |
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