The Effect of the Optimization Selection of Position Analysis Route on the Forward Position Solutions of Parallel Mechanisms

The forward position solution (FPS) of any complex parallel mechanism (PM) can be solved through solving in sequence all of the independent loops contained in the PM. Therefore, when solving the positions of a PM, all independent loops, especially the first loop, must be correctly selected. The opti...

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Main Authors:	Huiping Shen, Qing Xu, Ju Li, Ting-li Yang
Format:	Article
Language:	English
Published:	MDPI AG 2020-11-01
Series:	Robotics
Subjects:	parallel mechanism forward kinematics coupling degree
Online Access:	https://www.mdpi.com/2218-6581/9/4/93

id	doaj-c425c8ed4b3041b4b1a28a6a4362731e
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spelling	doaj-c425c8ed4b3041b4b1a28a6a4362731e2020-11-25T04:09:15ZengMDPI AGRobotics2218-65812020-11-019939310.3390/robotics9040093The Effect of the Optimization Selection of Position Analysis Route on the Forward Position Solutions of Parallel MechanismsHuiping Shen0Qing Xu1Ju Li2Ting-li Yang3School of Mechanical Engineering, Changzhou University, Changzhou 213164, ChinaSchool of Mechanical Engineering, Changzhou University, Changzhou 213164, ChinaSchool of Mechanical Engineering, Changzhou University, Changzhou 213164, ChinaSchool of Mechanical Engineering, Changzhou University, Changzhou 213164, ChinaThe forward position solution (FPS) of any complex parallel mechanism (PM) can be solved through solving in sequence all of the independent loops contained in the PM. Therefore, when solving the positions of a PM, all independent loops, especially the first loop, must be correctly selected. The optimization selection criterion of the position analysis route (PAR) proposed for the FPS is presented in this paper, which can not only make kinematics modeling and solving efficient but also make it easy to get its symbolic position solutions. Two three-translation PMs are used as the examples to illustrate the optimization selection of their PARs and obtain their symbolic position solutions.https://www.mdpi.com/2218-6581/9/4/93parallel mechanismforward kinematicscoupling degree
collection	DOAJ
language	English
format	Article
sources	DOAJ
author	Huiping Shen Qing Xu Ju Li Ting-li Yang
spellingShingle	Huiping Shen Qing Xu Ju Li Ting-li Yang The Effect of the Optimization Selection of Position Analysis Route on the Forward Position Solutions of Parallel Mechanisms Robotics parallel mechanism forward kinematics coupling degree
author_facet	Huiping Shen Qing Xu Ju Li Ting-li Yang
author_sort	Huiping Shen
title	The Effect of the Optimization Selection of Position Analysis Route on the Forward Position Solutions of Parallel Mechanisms
title_short	The Effect of the Optimization Selection of Position Analysis Route on the Forward Position Solutions of Parallel Mechanisms
title_full	The Effect of the Optimization Selection of Position Analysis Route on the Forward Position Solutions of Parallel Mechanisms
title_fullStr	The Effect of the Optimization Selection of Position Analysis Route on the Forward Position Solutions of Parallel Mechanisms
title_full_unstemmed	The Effect of the Optimization Selection of Position Analysis Route on the Forward Position Solutions of Parallel Mechanisms
title_sort	effect of the optimization selection of position analysis route on the forward position solutions of parallel mechanisms
publisher	MDPI AG
series	Robotics
issn	2218-6581
publishDate	2020-11-01
description	The forward position solution (FPS) of any complex parallel mechanism (PM) can be solved through solving in sequence all of the independent loops contained in the PM. Therefore, when solving the positions of a PM, all independent loops, especially the first loop, must be correctly selected. The optimization selection criterion of the position analysis route (PAR) proposed for the FPS is presented in this paper, which can not only make kinematics modeling and solving efficient but also make it easy to get its symbolic position solutions. Two three-translation PMs are used as the examples to illustrate the optimization selection of their PARs and obtain their symbolic position solutions.
topic	parallel mechanism forward kinematics coupling degree
url	https://www.mdpi.com/2218-6581/9/4/93
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The Effect of the Optimization Selection of Position Analysis Route on the Forward Position Solutions of Parallel Mechanisms

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