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A novel kinematic modeling method for (1+n) type parallel mechanism: applied to obtain the position and posture space simultaneously

Published online by Cambridge University Press:  04 December 2024

Yufan He Open the ORCID record for Yufan He [Opens in a new window] ,
Hairong Fang Open the ORCID record for Hairong Fang [Opens in a new window] ,
Zhengxian Jin  and
Chong Zhang
Yufan He
Affiliation:
Robotics Research Center, Beijing Jiaotong University, Beijing, PR China
Hairong Fang*
Affiliation:
Robotics Research Center, Beijing Jiaotong University, Beijing, PR China
Zhengxian Jin
Affiliation:
Robotics Research Center, Beijing Jiaotong University, Beijing, PR China
Chong Zhang
Affiliation:
Aerospace research institute of materials & processing technology, Beijing, PR China
*
Corresponding author: Hairong Fang; Email: hrfang@bjtu.edu.cn
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Abstract

In this study, a novel kinematic modeling method of parallel mechanism is proposed. It can obtain position and posture space simultaneously in a single model. Compared with the traditional method only based on inverse kinematics, the novel method can significantly improve computational performance. The original evaluation metric $\mathfrak{R}$ is proposed to evaluate the performance of the two modeling methods. Three groups of experiments with different calculation times are carried out for the classical PPU-3RUS parallel mechanism, and the new RS-3UPRU parallel mechanism after the effectiveness and wide applicability of the novel modeling method is proved. The calculation time and output rate are recorded, respectively, and then the respective $\mathfrak{R}$ values are obtained by weighting. The results show that the novel modeling method has better performance.

Keywords

parallel mechanismkinematic modelingforward and inverse kinematicentropy weight methodcomprehensive evaluation index

Information

Type
Research Article
Information
Robotica , Volume 42 , Issue 10 , October 2024 , pp. 3281 - 3301
Copyright
© The Author(s), 2024. Published by Cambridge University Press

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