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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
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: [email protected]

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.

Type
Research Article
Copyright
© The Author(s), 2024. Published by Cambridge University Press

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