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Solution of geometrico-static problems and motion experiments for a suspended under-constrained parallel mechanism driven by two flexible cables.

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Title: Solution of geometrico-static problems and motion experiments for a suspended under-constrained parallel mechanism driven by two flexible cables.
Authors: Chen, Jianhuan1 (AUTHOR), Chen, Qiushuo1 (AUTHOR), Liang, Deyu1 (AUTHOR), Mo, Jiasi1 (AUTHOR) mo_jiasi@scau.edu.cn
Source: Journal of Mechanical Science & Technology. Aug2024, Vol. 38 Issue 8, p4365-4376. 12p.
Subjects: Parallel robots, Statics, Kinematics, Gravity, Equilibrium
Abstract: The suspended parallel mechanism, due to the use of gravity as a virtual rope to provide both geometric and force constraints, leads to coupled kinematics and statics of the mechanism (geometrico-static), whose under-constrained relationship makes the coupled kinematic/hydrostatic solution very challenging. In order to solve its geometrico-static problem, this paper proposes an inverse kinematic solution algorithm and conducts an experimental study on the equilibrium configuration of the end of the two-rope robot. First, the geometric constraint equations of the force system are derived from the force system equilibrium conditions. Second, motion simulation of the end of the mechanism is carried out to analyze its motion characteristics. Finally, the trajectory similarity between the motion control test and the theoretical calculation is compared. The experimental results show that the solution algorithm proposed in this paper has high accuracy and solution efficiency. [ABSTRACT FROM AUTHOR]
Copyright of Journal of Mechanical Science & Technology is the property of Springer Nature and its content may not be copied or emailed to multiple sites without the copyright holder's express written permission. Additionally, content may not be used with any artificial intelligence tools or machine learning technologies. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract. (Copyright applies to all Abstracts.)
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  Data: Solution of geometrico-static problems and motion experiments for a suspended under-constrained parallel mechanism driven by two flexible cables.
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  Data: <searchLink fieldCode="AR" term="%22Chen%2C+Jianhuan%22">Chen, Jianhuan</searchLink><relatesTo>1</relatesTo> (AUTHOR)<br /><searchLink fieldCode="AR" term="%22Chen%2C+Qiushuo%22">Chen, Qiushuo</searchLink><relatesTo>1</relatesTo> (AUTHOR)<br /><searchLink fieldCode="AR" term="%22Liang%2C+Deyu%22">Liang, Deyu</searchLink><relatesTo>1</relatesTo> (AUTHOR)<br /><searchLink fieldCode="AR" term="%22Mo%2C+Jiasi%22">Mo, Jiasi</searchLink><relatesTo>1</relatesTo> (AUTHOR)<i> mo_jiasi@scau.edu.cn</i>
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  Data: <searchLink fieldCode="JN" term="%22Journal+of+Mechanical+Science+%26+Technology%22">Journal of Mechanical Science & Technology</searchLink>. Aug2024, Vol. 38 Issue 8, p4365-4376. 12p.
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  Data: <searchLink fieldCode="DE" term="%22Parallel+robots%22">Parallel robots</searchLink><br /><searchLink fieldCode="DE" term="%22Statics%22">Statics</searchLink><br /><searchLink fieldCode="DE" term="%22Kinematics%22">Kinematics</searchLink><br /><searchLink fieldCode="DE" term="%22Gravity%22">Gravity</searchLink><br /><searchLink fieldCode="DE" term="%22Equilibrium%22">Equilibrium</searchLink>
– Name: Abstract
  Label: Abstract
  Group: Ab
  Data: The suspended parallel mechanism, due to the use of gravity as a virtual rope to provide both geometric and force constraints, leads to coupled kinematics and statics of the mechanism (geometrico-static), whose under-constrained relationship makes the coupled kinematic/hydrostatic solution very challenging. In order to solve its geometrico-static problem, this paper proposes an inverse kinematic solution algorithm and conducts an experimental study on the equilibrium configuration of the end of the two-rope robot. First, the geometric constraint equations of the force system are derived from the force system equilibrium conditions. Second, motion simulation of the end of the mechanism is carried out to analyze its motion characteristics. Finally, the trajectory similarity between the motion control test and the theoretical calculation is compared. The experimental results show that the solution algorithm proposed in this paper has high accuracy and solution efficiency. [ABSTRACT FROM AUTHOR]
– Name: AbstractSuppliedCopyright
  Label:
  Group: Ab
  Data: <i>Copyright of Journal of Mechanical Science & Technology is the property of Springer Nature and its content may not be copied or emailed to multiple sites without the copyright holder's express written permission. Additionally, content may not be used with any artificial intelligence tools or machine learning technologies. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract.</i> (Copyright applies to all Abstracts.)
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        Value: 10.1007/s12206-024-0732-6
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      – SubjectFull: Kinematics
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            – D: 01
              M: 08
              Text: Aug2024
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