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Kinematic analysis of 3-PRS parallel robot for using in satellites tracking system

Published on Dec 1, 2011
路 DOI :10.1109/ICCIAutom.2011.6356786
Mohammad H. Fatehi3
Estimated H-index: 3
(IAU: Islamic Azad University),
Ahmad Reza Vali7
Estimated H-index: 7
(IAU: Islamic Azad University)
+ 2 AuthorsJafar Zarei15
Estimated H-index: 15
(SUTECH: Shiraz University of Technology)
Abstract
  • References (10)
  • Citations (1)
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References10
Newest
#1Geoffrey Pond (UNB: University of New Brunswick)H-Index: 4
#2Juan A. Carretero (UNB: University of New Brunswick)H-Index: 15
Abstract Using a novel method for the formulation of Jacobian matrices, this paper quantitatively compares the dexterity of spatial complex degree of freedom parallel manipulators for the first time. The manipulators included in this study are three-degree-of-freedom manipulators including the 3- P RS, 3-R P S, and Tricept. The comparison is made possible through the use of a novel method of formulating square dimensionally homogeneous Jacobian matrices, and a consistent choice of independent en...
45 CitationsSource
#1Geoffrey Pond (UNB: University of New Brunswick)H-Index: 4
#2Juan A. Carretero (UNB: University of New Brunswick)H-Index: 15
The condition number of the Jacobian matrix has been commonly used in determining the dexterous regions of a manipulator workspace. This has been successful when applied to manipulators having either solely spherical or solely Cartesian degrees of freedom. However, for manipulators having a mix of both rotational and translational degrees of freedom, i.e., complex degree of freedom manipulators, the condition number of the Jacobian matrix may not be used due to dimensional inconsistencies with i...
94 CitationsSource
#1Kuang-Chao Fan (NTU: National Taiwan University)H-Index: 24
#2Hai WangH-Index: 4
Last. Tsan-Hwei ChangH-Index: 1
view all 4 authors...
The special configuration of a serial-parallel type machine tool possesses five degrees of freedom and provides more flexibility in NC machining. The parallel spindle platform plays the key role in manipulating three directions of movement. In this study, the inverse kinematics analysis of the platform is derived first. A sensitivity model of the spindle platform subject to the structure parameters is then proposed and analyzed. All the parameters influencing the position and orientation of the ...
71 CitationsSource
#1Meng-Shiun Tsai (CCU: National Chung Cheng University)H-Index: 15
#2Ting-Nung Shiau (CCU: National Chung Cheng University)H-Index: 2
Last. Tsann-Huei Chang (Keio: Keio University)H-Index: 1
view all 4 authors...
Abstract This paper presents the direct kinematics solutions for a novel 3-PRS parallel mechanism. The geometric method is applied to formulate three coupled trigonometric equations. One algorithm for solving the three coupled equations is to use the Bezout鈥檚 elimination method which leads to a total of 64 solutions. By categorizing the 64 solutions into six groups and further examining the corresponding configuration for each group, the preferred solution to the direct kinematics problem can be...
141 CitationsSource
#1Juan A. Carretero (UVic: University of Victoria)H-Index: 15
#2Ron P. Podhorodeski (UVic: University of Victoria)H-Index: 18
Last. Cl茅ment Gosselin (Laval University)H-Index: 64
view all 4 authors...
A study of the kinematic characteristics of a three degree-of-freedom (dof) parallel mechanism is presented. The architecture of the mechanism is comprised of a mobile platform attached to a base through three identical prismatic-revolute-spherical jointed serial linkages. The prismatic joints are considered to be actuated. These prismatic actuators lie on a common plane and have radial directions of action. The mechanism's inverse displacement solution is obtained. Since the mechanism has only ...
269 CitationsSource
#1Jean-Pierre Merlet (IRIA: French Institute for Research in Computer Science and Automation)H-Index: 33
#2Cl茅ment Gosselin (Laval University)H-Index: 64
Resume Une nouvelle architecture mecanique de manipulateur parallele est proposee dans cet article. Apres un bref rappel de l'evolution des manipulateurs paralleles, less caracteristiques geometriques du nouveau systeme sont decrites et la solution du probleme cinematique inverse, qui est d'une importance primordiale pour la commande du robot, est presentee sous forme explicite. Les expressions pour la matrice Jacobienne inverse ainsi que de sa derivee par rapport au temps鈥攗tilisee pour la solut...
60 CitationsSource
#1Shih-Liang Wang (OSU: Ohio State University)H-Index: 2
#2Kenneth J. Waldron (OSU: Ohio State University)H-Index: 37
68 CitationsSource
#1D. StewartH-Index: 2
This paper describes a mechanism which has six degrees of freedom, controlled in any combination by six motors, each having a ground abutment. It is considered that by its particular arrangement, this mechanism may form an elegant design for simulating flight conditions in the training of pilots. Unlike most simulators, it has no fixed axes relative to the ground, and therefore within the limits of amplitude of the design it can truly simulate the conditions of banking by carrying the simulation...
1,267 CitationsSource
Cited By1
Newest
#1Dion Hicks (MUN: Memorial University of Newfoundland)H-Index: 2
#2Taufiqur Rahman (St. John's University)H-Index: 2
Last. Nicholas Krouglicof (UPEI: University of Prince Edward Island)H-Index: 7
view all 3 authors...
1 CitationsSource
#1Yong Geng Wei (Heilongjiang University)
#2Zhong Xian Wang (Heilongjiang University)H-Index: 1
Last. Yong Shi (HEU: Harbin Engineering University)
view all 4 authors...
With the increase of welding thickness, Friction stir welding equipment (FSW) with traditional milling machine structure could not meet the requirements of stiffness which to support the huge axis load. Therefore, a FSW with serial-parallel mechanism based on 3-PRS platform was proposed. In order to complete real-time control and the actual and virtual axis control of the equipment, the positive solution and inverse solution (based on Newton-Euler method) of the FSW are analyzed. Then, based on ...
Source