Parallel Manipulators Towards New Applications Part 12

Tham khảo tài liệu 'parallel manipulators towards new applications part 12', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | The Analysis and Application of Parallel Manipulator for Active Reflector of FAST 323 manipulator for reflector unit. Since 3-PRS mechanism has many problems such as parasitic motion advanced research on kinematics with errors is necessary. Then three-dimensional fitting accuracy is analyzed based on error kinematics of 3-PRS mechanism. 2. The analysis of 3-PSS C supporting mechanism Supporting mechanism description As shown in Fig. 2 a the parallel supporting mechanism consists of a base plate a movable platform and four connecting legs three of which have identical kinematic chains PSS. Each of the three legs is composed of one fixed length link 3 and one union driven plate 5 . The fixed length link 3 is connected to the movable platform 1 and the union driven plate 5 by two spherical joints 2 and 4 respectively. The union driven plate 5 is connected to the base plate 7 by a prismatic joint 6 . The base plate and the movable platform are two regular triangles. The passive leg 8 connects the center points of the two regular triangles. One end of the passive leg has a 2-DOF universal joint 9 another end is fixed to the base plate 7 by a prismatic joint 10 . The passive leg 8 can be extensible with the prismatic joint 10 along its axis line. Furthermore when the supporting mechanism is assembled the axis line of the prismatic joint 10 should pass the center of the spherical reflector. Since a supporting mechanism should be driven by three actuator legs as shown in Fig. 2 the union driven plate 5 connects three fixed length links in order to reduce the actuator number. As a result the number of actuators of the active reflector is equal to that of the reflector units. From above description one can see that the proposed mechanism is such a mechanism with n DOFs which usually consists of n identical actuated legs with 6 DOFs and one passive leg with n DOFs connecting the movable platform and the base plate . the DOF of the mechanism is dependent on the passive

Không thể tạo bản xem trước, hãy bấm tải xuống
TÀI LIỆU LIÊN QUAN
TỪ KHÓA LIÊN QUAN
TÀI LIỆU MỚI ĐĂNG
Đã phát hiện trình chặn quảng cáo AdBlock
Trang web này phụ thuộc vào doanh thu từ số lần hiển thị quảng cáo để tồn tại. Vui lòng tắt trình chặn quảng cáo của bạn hoặc tạm dừng tính năng chặn quảng cáo cho trang web này.