Through analyzing the kinematics of the hydraulic manipulator operating system, according to the rules for seting up the D-H coordinate system, the generalized coordinate of the manipulator system is established. The ...Through analyzing the kinematics of the hydraulic manipulator operating system, according to the rules for seting up the D-H coordinate system, the generalized coordinate of the manipulator system is established. The rotating and moving joints are selected from the mechanism as joint variables. Each generalized transformation matrix of joints is worked out. The kinematics equation at the finger end of the manipulator is calculated. The obverse solution for the manipulator is gained. The geometrical operating parameters and primary technical specification of the manipulator system are simulated through the computer. The simulative result has shown that the manipulator operating system meets the working task requirements. This research provides theoretical basis for optimizing structural parameters of the manipulator operating. So it also is justified the feasibility for mechanical manipulators to be used in the engineering equipment platform of the hydraulic excavator.展开更多
The forward kinematics analysis of a special 6-SPS Stewart platform is presented, in which both the base and the mobile platforms are hexagon and similar to each other. The forward kinematics of the parallel mechanism...The forward kinematics analysis of a special 6-SPS Stewart platform is presented, in which both the base and the mobile platforms are hexagon and similar to each other. The forward kinematics of the parallel mechanism is a complicated nonlinear problem, however. there exists a class of parallel kinematics platforms that have the simplest forward kinematics. By introducing quaternion to represent the rotary transformation matrix and applying dual space method to eliminate the high degree polynomials, the forward kinematics can be expressed by a set of quadratic algebra equations, which decouple the position and the orientation of the mobile platform. The approach only requires solving one-variable quadratic equations. Besides, spurious complex roots are automatically avoided. Eight possible solutions are obtained from the approach. It discovers the inner symmetry relationship between the solutions of the forward kinematics.展开更多
This paper presents an analytical geometry method for kinematics and efficiency of planetary gear trains (PGTs). The novel method which is capable of evolution and contrast analysis of mechanism kinematics, can be app...This paper presents an analytical geometry method for kinematics and efficiency of planetary gear trains (PGTs). The novel method which is capable of evolution and contrast analysis of mechanism kinematics, can be applied to any typical one-and two-degree-of-freedom plane PGTs containing any number of simple, compound or complex-compound planetary gear sets. The efficiency analysis of this method features a systematized and programmed process and its independence of the speed ratio. The primary contribution of this work lies in the integration of quantitative calculation, qualitative evolution and comparative analysis of kinematics of PGTs into one diagram, and in the integration of kinematics and efficiency analysis into a single method system. First, the analytical geometry method is defined, its basic properties are given, and the systematization procedure to perform kinematic analysis is demonstrated. As an application, analytical geometry diagrams of common PGTs are exhibited in the form of a list, whose kinematic characteristics and general evolution tendency are discussed. Then, with the mapping of PGTs onto the angular speed plane, the efficiency formula of analytical geometry, which has an extremely concise form, and a simple method for power flow estimation are put forward. Moreover, a general procedure is provided to analyze the efficiency and power flow. Finally, four numerical examples including a complicated eleven-link differential PGTs are given to illustrate the simpleness and intuitiveness of the analytical geometry method.展开更多
文摘Through analyzing the kinematics of the hydraulic manipulator operating system, according to the rules for seting up the D-H coordinate system, the generalized coordinate of the manipulator system is established. The rotating and moving joints are selected from the mechanism as joint variables. Each generalized transformation matrix of joints is worked out. The kinematics equation at the finger end of the manipulator is calculated. The obverse solution for the manipulator is gained. The geometrical operating parameters and primary technical specification of the manipulator system are simulated through the computer. The simulative result has shown that the manipulator operating system meets the working task requirements. This research provides theoretical basis for optimizing structural parameters of the manipulator operating. So it also is justified the feasibility for mechanical manipulators to be used in the engineering equipment platform of the hydraulic excavator.
文摘The forward kinematics analysis of a special 6-SPS Stewart platform is presented, in which both the base and the mobile platforms are hexagon and similar to each other. The forward kinematics of the parallel mechanism is a complicated nonlinear problem, however. there exists a class of parallel kinematics platforms that have the simplest forward kinematics. By introducing quaternion to represent the rotary transformation matrix and applying dual space method to eliminate the high degree polynomials, the forward kinematics can be expressed by a set of quadratic algebra equations, which decouple the position and the orientation of the mobile platform. The approach only requires solving one-variable quadratic equations. Besides, spurious complex roots are automatically avoided. Eight possible solutions are obtained from the approach. It discovers the inner symmetry relationship between the solutions of the forward kinematics.
基金supported by the National Natural Science Foundation of China (Grant No. 51075407)the Fundamental Research Funds for the Central Universities (Grant No. CDJXS11111143)
文摘This paper presents an analytical geometry method for kinematics and efficiency of planetary gear trains (PGTs). The novel method which is capable of evolution and contrast analysis of mechanism kinematics, can be applied to any typical one-and two-degree-of-freedom plane PGTs containing any number of simple, compound or complex-compound planetary gear sets. The efficiency analysis of this method features a systematized and programmed process and its independence of the speed ratio. The primary contribution of this work lies in the integration of quantitative calculation, qualitative evolution and comparative analysis of kinematics of PGTs into one diagram, and in the integration of kinematics and efficiency analysis into a single method system. First, the analytical geometry method is defined, its basic properties are given, and the systematization procedure to perform kinematic analysis is demonstrated. As an application, analytical geometry diagrams of common PGTs are exhibited in the form of a list, whose kinematic characteristics and general evolution tendency are discussed. Then, with the mapping of PGTs onto the angular speed plane, the efficiency formula of analytical geometry, which has an extremely concise form, and a simple method for power flow estimation are put forward. Moreover, a general procedure is provided to analyze the efficiency and power flow. Finally, four numerical examples including a complicated eleven-link differential PGTs are given to illustrate the simpleness and intuitiveness of the analytical geometry method.
