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Force Analysis Method of Some Parallel Robots Based on Screw Theory

Author: LiuShiChang
Tutor: HuangZhen
School: Yanshan University
Course: Mechanical and Electronic Engineering
Keywords: Parallel mechanism Stress Analysis Active force Motion constraint forces Screw theory
CLC: TP242
Type: Master's thesis
Year: 2011
Downloads: 80
Quote: 0
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Abstract


The stress analysis of parallel mechanism , has been the problem of institutional research field . Complex institutions , especially the dynamic analysis of parallel mechanism in most literature only analyzes the driving force of the parallel mechanism , rarely comes to the constraint forces deputy campaign involves only solving part of the movement Vice constraint forces . To carry out this important theoretical significance and value in engineering research and development of parallel mechanism . Institutions by force analysis , whether for new mechanical design , to the rational use of the existing mechanical , are very necessary . The kinematic constraint forces and the role of the known external force on the mechanical and balanced against the various components of inertial force of unknown external forces are very important for engineering applications . Based on the work of the new method based on screw theory teacher Hwang Jin Zhao Yan , further bodies of several different types of stress analysis , many ways to verify the correct Settlement Body stress analysis method based on screw theory and development of the theoretical system . This method has the advantage that both obtained institutions active force in the different position and all sports vice constraint forces , to ensure that each simultaneous solution of the equation number more than six , and can be widely used in general parallel institutions. If you only need to solve the driving force of the organization , influence coefficient method can simplify this problem , and it is suitable for general parallel mechanism . Institutions both typical analysis of statically determinate ordinary single-degree-of-freedom space monocyclic RSUR institutions here as stress analysis of a similar parallel mechanism parallel mechanism , but also by two statically indeterminate institutions force analysis , screw theory to solve statically indeterminate institutions force a reasonable link , new insights .

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CLC: > Industrial Technology > Automation technology,computer technology > Automation technology and equipment > Robotics > Robot
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