Research on position analysis of a new partly-DOF parallel stable platform¹

Issue title: Applied Mathematics Related to Nonlinear Problems

Guest editors: Juan L.G. Guirao and Wei Gao

Article type: Research Article

Authors: Zhang, Xiaonan^{a; b} | Yuan, Jianhu^{a; *} | An, Lizhou^a | Shen, Xinmin^a | Song, Jiaxing^a | Bai, Panfeng^a | Tian, Aoke^a

Affiliations: [a] College of Field Engineering, PLA University of Science and Technology, Nanjing, China | [b] The 28th Research Institute of China Electronics Technology Group Corporation, Nanjing, China

Correspondence: [*] Corresponding author. Jianhu Yuan, College of Field Engineering, PLA University of Science and Technology, Nanjing 210007, China. Tel.: +86 18351950537; E-mail: 653568900@qq.com.

Note: [1] NSFC (No. 51505498) Jiangsu province natural science foundation of China (BK20150714).

Abstract: Based on POC set theory and SOC unit, a 1T3R parallel stable platform is proposed. Topology structure design of low-DOF parallel stable platform is studied. Both inverse and direct kinematics and Jacobean matrix of this mechanism are analyzed. Based on the structure of the whole platform, a three-dimensional solid model is established with Pro/Engineer software, and kinematics simulation analysis is performed in ADAMS. It establishes base for the application of this kind of parallel stable platform and the follow-up research for analysis of kinematics and workspace. The results of this study on the stability of the institutional platform have an important significance.

Keywords: Position analysis, inverse and direct kinematics, Jacobean matrix, parallel stable platform, three-dimensional solid model

DOI: 10.3233/JIFS-169328

Journal: Journal of Intelligent & Fuzzy Systems, vol. 33, no. 5, pp. 2793-2799, 2017