文档介绍：Available online at hanism
and
Machine Theory
Mechanism and Machine Theory 43 (2008) 1281–1294
ate/mechmt
Kinematics and dynamics of 2(3-RPS) manipulators by means
of screw theory and the principle of virtual work
Jaime Gallardo-Alvarado a,*, Carlos R. Aguilar-Na´jera a, Luis Casique-Rosas a,
Jose´ M. Rico-Martı´nez b, Md. Nazrul Islam c
a Department of Mechanical Engineering, Instituto olo´gico de Celaya, Av. olo´gico y Garcı´a Cubas, 38010 Celaya, Gto., Mexico
b FIMEE, Universidad de Guanajuato, Tampico No. 912, 36730 Salamanca, Gto., Mexico
c Department of Information Science, Faculty of Engineering, University of Fukui, Fukui, Bunkyo, Japan
Received 18 April 2007; received in revised form 3 October 2007; accepted 25 October 2007
Available online 11 December 2007
Abstract
In this contribution the kinematic and dynamic analyses, up to the determination of the driving forces, of a specific class
of series–parallel manipulators, known as 2(3-RPS) manipulators, are approached via the theory of screws and the prin-
ciple of virtual work. The generosity of screw theory, and the simplicity of the principle of virtual work, allows to obtain
systematically such fundamental analyses. As an initial step, the forward position analysis of the hybrid mechanism is pre-
sented in analytical form solution, thus all the feasible solutions, at most 256, can be easily obtained. Afterwards, the veloc-
ity and acceleration analyses, as well as the dynamic analysis, are simplified considerably applying the properties of
reciprocal screws.
Ó 2007 Elsevier Ltd. All rights reserved.
Keywords: Series–parallel; Driving forces; Principle of virtual work; Screw theory; Kinematics and dynamics
1. Introduction
Due to pact topology, parallel manipulators are more stiff and accurate than their serial counter-
parts. Owing these merits, over the last decades a growing interest in the development of parallel kinematic
machines (PKMs), with heavy payload capaci