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Journal of Zhejiang University SCIENCE A 2007 Vol.8 No.11 P.1800~1807

10.1631/jzus.2007.A1800


Research on the operating characteristics of parallel 4-DOF electric platform with 4TPS-PS structure


Author(s):  CHENG Jia, WANG Xuan-yin, FU Xiao-jie, LI Qiang

Affiliation(s):  The State Key Laboratory of Fluid Power Transmission and Control, Zhejiang University, Hangzhou 310027, China

Corresponding email(s):   chengjiazju@gmail.com, xywang@zju.edu.cn

Key Words:  Parallel mechanism, 4-DOF, Workspace, Generalized speed, Generalized force


CHENG Jia, WANG Xuan-yin, FU Xiao-jie, LI Qiang. Research on the operating characteristics of parallel 4-DOF electric platform with 4TPS-PS structure[J]. Journal of Zhejiang University Science A, 2007, 8(11): 1800~1807.

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author="CHENG Jia, WANG Xuan-yin, FU Xiao-jie, LI Qiang",
journal="Journal of Zhejiang University Science A",
volume="8",
number="11",
pages="1800~1807",
year="2007",
publisher="Zhejiang University Press & Springer",
doi="10.1631/jzus.2007.A1800"
}

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%T Research on the operating characteristics of parallel 4-DOF electric platform with 4TPS-PS structure
%A CHENG Jia
%A WANG Xuan-yin
%A FU Xiao-jie
%A LI Qiang
%J Journal of Zhejiang University SCIENCE A
%V 8
%N 11
%P 1800~1807
%@ 1673-565X
%D 2007
%I Zhejiang University Press & Springer
%DOI 10.1631/jzus.2007.A1800

TY - JOUR
T1 - Research on the operating characteristics of parallel 4-DOF electric platform with 4TPS-PS structure
A1 - CHENG Jia
A1 - WANG Xuan-yin
A1 - FU Xiao-jie
A1 - LI Qiang
J0 - Journal of Zhejiang University Science A
VL - 8
IS - 11
SP - 1800
EP - 1807
%@ 1673-565X
Y1 - 2007
PB - Zhejiang University Press & Springer
ER -
DOI - 10.1631/jzus.2007.A1800


Abstract: 
The 4TPS-PS parallel platform designed for a stabilization and automatic tracking system is a novel lower-mobility parallel mechanism. In the first part of this paper, the structure of the platform is described and the kinematics model is built. The workspace of the platform is defined as the full reachable rotation workspace when the Z coordinate dimension of the upper plate varies continuously. A fast searching method of the full reachable workspace is presented, after which the inverse kinematics of the platform is deduced. The forward and inverse solutions of the speed and force of the platform are deduced. According to the characteristic of the 4TPS-PS platform’s structure, a fast searching algorithm of the maximum generalized speed and maximum generalized force output by the upper plate is put forward based on the forward and inverse solutions of the platform’s speed and force. The 4TPS-PS platform prototype built by the State Key Laboratory of Fluid Power Transmission and Control of China is taken as the research subject. The full reachable rotation workspace of the prototype is computed out and analyzed. The curves of maximum generalized speed and maximum generalized force of the prototype are computed out and plotted. Finally, the computing and analyzing results of the operating characteristics are confirmed through the experiment.

Darkslateblue:Affiliate; Royal Blue:Author; Turquoise:Article

Reference

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