Kinematics Analysis of a Parallel Coordinate Measuring Machine

Kinematics Analysis of a Parallel Coordinate Measuring Machine

A 4-UPS-UPU 5-Degrees of Freedom PCMM(Parallel coordinate measuring machine), which can achieve three translation degrees of freedom and two rotational degrees of freedom, is presented in this paper. The inverse position model of the 4-UPS-UPU PCMM is established. The Jacobian matrix, and the expres...

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Main Authors: Xiulong Chen, Weiming Feng, Xianyang Sun, Qing Gao
Format: Article
Language:English
Published: SAGE Publishing 2013-04-01
Series:International Journal of Advanced Robotic Systems
Online Access:https://doi.org/10.5772/55839
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spelling doaj-d90ce7f6190848be9dfb89b6e10ddf482020-11-25T03:34:20ZengSAGE PublishingInternational Journal of Advanced Robotic Systems1729-88142013-04-011010.5772/5583910.5772_55839Kinematics Analysis of a Parallel Coordinate Measuring MachineXiulong Chen0Weiming Feng1Xianyang Sun2Qing Gao3 College of Mechanical and Electronic Engineering, Shandong University of Science and Technology, Qingdao, China College of Mechanical and Electronic Engineering, Shandong University of Science and Technology, Qingdao, China College of Mechanical and Electronic Engineering, Shandong University of Science and Technology, Qingdao, China College of Mechanical and Electronic Engineering, Shandong University of Science and Technology, Qingdao, ChinaA 4-UPS-UPU 5-Degrees of Freedom PCMM(Parallel coordinate measuring machine), which can achieve three translation degrees of freedom and two rotational degrees of freedom, is presented in this paper. The inverse position model of the 4-UPS-UPU PCMM is established. The Jacobian matrix, and the expressions of velocity and acceleration are deduced. Furthermore, a numerical analysis of the inverse solutions of the position, velocity and acceleration are carried out. The results are confirmed by a virtual simulation of the 4-UPS-UPU PCMM prototype. This research has laid a solid foundation for the motion control and movement performance analysis of the 4-UPS-UPU PCMM.https://doi.org/10.5772/55839
collection DOAJ
language English
format Article
sources DOAJ
author Xiulong Chen
Weiming Feng
Xianyang Sun
Qing Gao
spellingShingle Xiulong Chen
Weiming Feng
Xianyang Sun
Qing Gao
Kinematics Analysis of a Parallel Coordinate Measuring Machine
International Journal of Advanced Robotic Systems
author_facet Xiulong Chen
Weiming Feng
Xianyang Sun
Qing Gao
author_sort Xiulong Chen
title Kinematics Analysis of a Parallel Coordinate Measuring Machine
title_short Kinematics Analysis of a Parallel Coordinate Measuring Machine
title_full Kinematics Analysis of a Parallel Coordinate Measuring Machine
title_fullStr Kinematics Analysis of a Parallel Coordinate Measuring Machine
title_full_unstemmed Kinematics Analysis of a Parallel Coordinate Measuring Machine
title_sort kinematics analysis of a parallel coordinate measuring machine
publisher SAGE Publishing
series International Journal of Advanced Robotic Systems
issn 1729-8814
publishDate 2013-04-01
description A 4-UPS-UPU 5-Degrees of Freedom PCMM(Parallel coordinate measuring machine), which can achieve three translation degrees of freedom and two rotational degrees of freedom, is presented in this paper. The inverse position model of the 4-UPS-UPU PCMM is established. The Jacobian matrix, and the expressions of velocity and acceleration are deduced. Furthermore, a numerical analysis of the inverse solutions of the position, velocity and acceleration are carried out. The results are confirmed by a virtual simulation of the 4-UPS-UPU PCMM prototype. This research has laid a solid foundation for the motion control and movement performance analysis of the 4-UPS-UPU PCMM.
url https://doi.org/10.5772/55839
work_keys_str_mv AT xiulongchen kinematicsanalysisofaparallelcoordinatemeasuringmachine
AT weimingfeng kinematicsanalysisofaparallelcoordinatemeasuringmachine
AT xianyangsun kinematicsanalysisofaparallelcoordinatemeasuringmachine
AT qinggao kinematicsanalysisofaparallelcoordinatemeasuringmachine
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