By selecting any one limb of 3-RSR parallel robot as a research object, the paper establishes a position and orienta- tion relationship matrix between the moving platform and the base by means of Denavit-Hartenberg (...By selecting any one limb of 3-RSR parallel robot as a research object, the paper establishes a position and orienta- tion relationship matrix between the moving platform and the base by means of Denavit-Hartenberg (D-H) transformation matrix. The error mapping model is derived from original error to the error of the platform by using matrix differential method. This model contains all geometric original errors of the robot. The nonlinear implicit function relation between po- sition and orientation error of the platform and the original geometric errors is simplified as a linear explicit function rela- tion. The results provide a basis for further studying error analysis and error compensation.展开更多
Differed from the existed applications of generalized stochastic Petri net(GSPN) theory in machine-tool manufacturing system, reliability computation of FMS, testabilityparameters determination and fault analysis, a n...Differed from the existed applications of generalized stochastic Petri net(GSPN) theory in machine-tool manufacturing system, reliability computation of FMS, testabilityparameters determination and fault analysis, a new idea of applying GSPN to model and performanceanalysis for the serial and parallel production system is proposed. And one typical discrete eventdynamic system (DEDS), turner-unit of palletizing system, is taken as a real case to research. Basedupon the established GSPN models, the working performances of serial and parallel layout arecompared. Furthermore, their differences of working mechanisms including feeding mechanism,coordinating mechanism and monitoring mechanism are discussed. Thus the theoretical basis which ishelpful to appraise layout plan and its reasonableness is provided. Meanwhile, the research resultsshow that parallel layout is more advantageous to greatly improve the operational speed ofproduction system than serial one.展开更多
3-PRS serial-parallel machine tool consists of a 3-degree-of-freedom (DOF) implementation platform and a 2-DOF X-Y platform. The error modeling and parameter identification methods were deduced based on 3-PRS serial-p...3-PRS serial-parallel machine tool consists of a 3-degree-of-freedom (DOF) implementation platform and a 2-DOF X-Y platform. The error modeling and parameter identification methods were deduced based on 3-PRS serial-parallel machine tool. 3-PRS serial-parallel machine tool was researched, and the mechanism of error analysis, modeling, identification of error parameters and measurement equipment for the use of agency error of measurement were conducted. In order to achieve the geometric parameters calibration and error compensation of the serial-parallel machine tool, the nominal structural parameters of the controller was adjusted by identifying the structure of the machine tool. With the establishment of a vector space size chain, we can do the error analysis, error modeling, error measurement and error compensation can be done.展开更多
In order to overcome the shortcoming of the classical Hungarian algorithm that it can only solve the problems where the total cost is the sum of that of each job, an improved Hungarian algorithm is proposed and used t...In order to overcome the shortcoming of the classical Hungarian algorithm that it can only solve the problems where the total cost is the sum of that of each job, an improved Hungarian algorithm is proposed and used to solve the assignment problem of serial-parallel systems. First of all, by replacing parallel jobs with virtual jobs, the proposed algorithm converts the serial-parallel system into a pure serial system, where the classical Hungarian algorithm can be used to generate a temporal assignment plan via optimization. Afterwards, the assignment plan is validated by checking whether the virtual jobs can be realized by real jobs through local searching. If the assignment plan is not valid, the converted system will be adapted by adjusting the parameters of virtual jobs, and then be optimized again. Through iterative searching, the valid optimal assignment plan can eventually be obtained.To evaluate the proposed algorithm, the valid optimal assignment plan is applied to labor allocation of a manufacturing system which is a typical serial-parallel system.展开更多
The concept of legged-robot stability training with a training platform is proposed and a serial-parallel mechanism platform with 6 degrees of freedom is designed for this target. The designed platform is composed of ...The concept of legged-robot stability training with a training platform is proposed and a serial-parallel mechanism platform with 6 degrees of freedom is designed for this target. The designed platform is composed of 4-DOF parallel mechanism with spherical joints and prismatic pairs,and 2-DOF serial mechanism with prismatic pairs. With this design,the platform has advantages of low platform countertop,big workspace,high carrying capacity and high stiffness. On the basis of DOF analysis and computation of space mechanism,weight supporting auxiliary mechanism and raceways-balls supporting mechanism are designed,so as to improve the stiffness of designed large platform and payload capacity of servo motors. And then the whole structure design work of the platform is done. Meanwhile,this paper derives the analytical solutions of forward kinematics, inverse kinematics and inverse dynamics. The error analysis model of position and orientation is established. And then the simulation is done in ADAMS to ensure the correctness and feasibility of this design.展开更多
Multicomputer systems(distributed memory computer systems) are becoming more and more popular and will be wildly used in scientific researches. In this paper, we present a parallel algorithm of Fourier Transform of a ...Multicomputer systems(distributed memory computer systems) are becoming more and more popular and will be wildly used in scientific researches. In this paper, we present a parallel algorithm of Fourier Transform of a vector of complex numbers on multicomputer system and give its computing times and its speedup in parallel environment supported by EXPRESS system on the multicomputer system which consists of four SGI workstations. Our analysis shows that the results is ideal and this scheme is suitable to multicomputer systems.展开更多
The Fourier transform is very important to numerous applications in science and engineering. However, its usefulness is hampered by its computational expense. In this paper, in an attempt to develop a faster method fo...The Fourier transform is very important to numerous applications in science and engineering. However, its usefulness is hampered by its computational expense. In this paper, in an attempt to develop a faster method for computing Fourier transforms, the authors present parallel implementations of two new algorithms developed for the type IV Discrete Cosine Transform (DCT-IV) which support the new interleaved fast Fourier transform method. The authors discuss the realizations of their implementations using two paradigms. The first involved commodity equipment and the Message-Passing Interface (MPI) library. The second utilized the RapidMind development platform and the Cell Broadband Engine (BE) processor. These experiments indicate that the authors' rotation-based algorithm is preferable to their lifting-based algorithm on the platforms tested, with increased efficiency demonstrated by their MPI implementation for large data sets. Finally, the authors outline future work by discussing an architecture-oriented method for computing DCT-IVs which promises further optimization. The results indicate a promising fresh direction in the search for efficient ways to compute Fourier transforms.展开更多
The transformation of parallel translation can improve the smoothness of discrete series sometimes. In this paper, for ship pitch, a method to modify the system error is proposed via the transformation of parallel tra...The transformation of parallel translation can improve the smoothness of discrete series sometimes. In this paper, for ship pitch, a method to modify the system error is proposed via the transformation of parallel translation, which can give the optimize parameters using the Method of Minimum Squares. The series in the method can fit white exponential law better, and then be applied in GM (1,1) very well. The numerical experiments imply that the method is practical, which make the ship pitch system model more accurate than GM ( 1,1 ).展开更多
Osteoporosis is a systemic disease characterized by low bone mass,impaired bone microstruc-ture,increased bone fragility,and a higher risk of fractures.It commonly affects postmenopausal women and the elderly.Orthopan...Osteoporosis is a systemic disease characterized by low bone mass,impaired bone microstruc-ture,increased bone fragility,and a higher risk of fractures.It commonly affects postmenopausal women and the elderly.Orthopantomography,also known as panoramic radiography,is a widely used imaging technique in dental examinations due to its low cost and easy accessibility.Previous studies have shown that the mandibular cortical index(MCI)derived from orthopantomography can serve as an important indicator of osteoporosis risk.To address this,this study proposes a parallel Transformer network based on multiple instance learning.By introducing parallel modules that alleviate optimization issues and integrating multiple-instance learning with the Transformer architecture,our model effectively extracts information from image patches.Our model achieves an accuracy of 86%and an AUC score of 0.963 on an osteoporosis dataset,which demonstrates its promising and competitive performance.展开更多
Oil and gas seismic exploration have to adopt irregular seismic acquisition due to the increasingly complex exploration conditions to adapt to complex geological conditions and environments.However,the irregular seism...Oil and gas seismic exploration have to adopt irregular seismic acquisition due to the increasingly complex exploration conditions to adapt to complex geological conditions and environments.However,the irregular seismic acquisition is accompanied by the lack of acquisition data,which requires high-precision regularization.The sparse signal feature in the transform domain in compressed sensing theory is used in this paper to recover the missing signal,involving sparse transform base optimization and threshold modeling.First,this paper analyzes and compares the effects of six sparse transformation bases on the reconstruction accuracy and efficiency of irregular seismic data and establishes the quantitative relationship between sparse transformation and reconstruction accuracy and efficiency.Second,an adaptive threshold modeling method based on sparse coefficient is provided to improve the reconstruction accuracy.Test results show that the method has good adaptability to different seismic data and sparse transform bases.The f-x domain reconstruction method of effective frequency samples is studied to address the problem of low computational efficiency.The parallel computing strategy of curvelet transform combined with OpenMP is further proposed,which substantially improves the computational efficiency under the premise of ensuring the reconstruction accuracy.Finally,the actual acquisition data are used to verify the proposed method.The results indicate that the proposed method strategy can solve the regularization problem of irregular seismic data in production and improve the imaging quality of the target layer economically and efficiently.展开更多
In this paper, we propose two kinds of modifications in speaker recognition. First, the correlations between frequency channels are of prime importance for speaker recognition. Some of these correlations are lost when...In this paper, we propose two kinds of modifications in speaker recognition. First, the correlations between frequency channels are of prime importance for speaker recognition. Some of these correlations are lost when the frequency domain is divided into sub-bands. Consequently we propose a particularly redundant parallel architecture for which most of the correlations are kept. Second, generally a log transformation used to modify the power spectrum is done after the filter-bank in the classical spectrum calculation. We will see that performing this transformation before the filter bank is more interesting in our case. In the processing of recognition, the Gaussian mixture model (GMM) recognition arithmetic is adopted. Experiments on speech corrupted by noise show a better adaptability of this approach in noisy environments, comoared with a conventional device, esoeciallv when oruning of some recognizers is performed.展开更多
Scale Invariant Feature Transform (SIFT) algorithm is a widely used computer vision algorithm that detects and extracts local feature descriptors from images. SIFT is computationally intensive, making it infeasible fo...Scale Invariant Feature Transform (SIFT) algorithm is a widely used computer vision algorithm that detects and extracts local feature descriptors from images. SIFT is computationally intensive, making it infeasible for single threaded im-plementation to extract local feature descriptors for high-resolution images in real time. In this paper, an approach to parallelization of the SIFT algorithm is demonstrated using NVIDIA’s Graphics Processing Unit (GPU). The parallel-ization design for SIFT on GPUs is divided into two stages, a) Algorithm de-sign-generic design strategies which focuses on data and b) Implementation de-sign-architecture specific design strategies which focuses on optimally using GPU resources for maximum occupancy. Increasing memory latency hiding, eliminating branches and data blocking achieve a significant decrease in aver-age computational time. Furthermore, it is observed via Paraver tools that our approach to parallelization while optimizing for maximum occupancy allows GPU to execute memory bound SIFT algorithm at optimal levels.展开更多
This work presents a computational matrix framework in terms of tensor signal algebra for the formulation of discrete chirp Fourier transform algorithms. These algorithms are used in this work to estimate the point ta...This work presents a computational matrix framework in terms of tensor signal algebra for the formulation of discrete chirp Fourier transform algorithms. These algorithms are used in this work to estimate the point target functions (impulse response functions) of multiple-input multiple-output (MIMO) synthetic aperture radar (SAR) systems. This estimation technique is being studied as an alternative to the estimation of point target functions using the discrete cross-ambiguity function for certain types of environmental surveillance applications. The tensor signal algebra is presented as a mathematics environment composed of signal spaces, finite dimensional linear operators, and special matrices where algebraic methods are used to generate these signal transforms as computational estimators. Also, the tensor signal algebra contributes to analysis, design, and implementation of parallel algorithms. An instantiation of the framework was performed by using the MATLAB Parallel Computing Toolbox, where all the algorithms presented in this paper were implemented.展开更多
We consider the flow of an incompressible viscous Maxwell fluid between two parallel plates, initially induced by a constant pressure gradient. The pressure gradient is withdrawn and the upper plate moves with a unifo...We consider the flow of an incompressible viscous Maxwell fluid between two parallel plates, initially induced by a constant pressure gradient. The pressure gradient is withdrawn and the upper plate moves with a uniform velocity while the lower plate continues to be at rest. The arising flow is referred to as run-up flow. The unsteady governing equations are solved as initial value problem using Laplace transform technique. The expression for velocity, shear stresses on both plates and discharge are obtained. The behavior of the velocity, shear stresses and mass flux has been discussed in detail with respect to variations in different governing flow parameters and is presented through graphs.展开更多
As one of the typical less-mobility parallel mechanisms, the spherical parallel mechanism Up.s with two degrees of freedom (2-DOF) possess high order overconstraints, and the calculation of its stiffness is partly d...As one of the typical less-mobility parallel mechanisms, the spherical parallel mechanism Up.s with two degrees of freedom (2-DOF) possess high order overconstraints, and the calculation of its stiffness is partly different with general parallel mechanisms owing to the bars in each branch are assumed to be arc-shaped. By means of small deformation superposition principle, the relationship between the angle displacement and line displacement of moving platform and the forces acted on the branches were derived out. Based on the results of static analysis, the relationship between the applied force, the line displacement and the angle displacement of the mechanism was set up. And then the stiffness matrix was obtained. The six principal stiffness of the mechanism and the corresponding directions were achieved by the orthogonal transformation. The numerical calculation was performed and the results showed that the principal stiffness and directions are varied with the pose-position of the mechanism, and the principal stiffness is gradually enlarged when it is far away from the anigin. In addition, the torsion stiffness is much greater and the line deformation stiffness is smaller, the difference between the two parts is huge. The research content of this paper supplies the theoretical foundation for the further engineering design and application of the spherical parallel mechanism.展开更多
基金National Natural Science Foundation of China(No.51275486)the Specialized Research Fund for the Doctoral Program of Higher Education(No.20111420110005)
文摘By selecting any one limb of 3-RSR parallel robot as a research object, the paper establishes a position and orienta- tion relationship matrix between the moving platform and the base by means of Denavit-Hartenberg (D-H) transformation matrix. The error mapping model is derived from original error to the error of the platform by using matrix differential method. This model contains all geometric original errors of the robot. The nonlinear implicit function relation between po- sition and orientation error of the platform and the original geometric errors is simplified as a linear explicit function rela- tion. The results provide a basis for further studying error analysis and error compensation.
基金This project is supported by National 863 Hi-Tech Project of China (No.512980106) Provincical Natural Science Foundation of Zhejiang (No.ZD0107).
文摘Differed from the existed applications of generalized stochastic Petri net(GSPN) theory in machine-tool manufacturing system, reliability computation of FMS, testabilityparameters determination and fault analysis, a new idea of applying GSPN to model and performanceanalysis for the serial and parallel production system is proposed. And one typical discrete eventdynamic system (DEDS), turner-unit of palletizing system, is taken as a real case to research. Basedupon the established GSPN models, the working performances of serial and parallel layout arecompared. Furthermore, their differences of working mechanisms including feeding mechanism,coordinating mechanism and monitoring mechanism are discussed. Thus the theoretical basis which ishelpful to appraise layout plan and its reasonableness is provided. Meanwhile, the research resultsshow that parallel layout is more advantageous to greatly improve the operational speed ofproduction system than serial one.
基金supported by Program for New Century Excellent Talents in University of Henan Province (GrantNo, 2006HANCET-16)program for The Fund of Henan Polytechnic University Postgraduate’s Innovative Papers (Grant No, 644013)program for Young Talents of Henan Polytechnic University (Grant No,649035)
文摘3-PRS serial-parallel machine tool consists of a 3-degree-of-freedom (DOF) implementation platform and a 2-DOF X-Y platform. The error modeling and parameter identification methods were deduced based on 3-PRS serial-parallel machine tool. 3-PRS serial-parallel machine tool was researched, and the mechanism of error analysis, modeling, identification of error parameters and measurement equipment for the use of agency error of measurement were conducted. In order to achieve the geometric parameters calibration and error compensation of the serial-parallel machine tool, the nominal structural parameters of the controller was adjusted by identifying the structure of the machine tool. With the establishment of a vector space size chain, we can do the error analysis, error modeling, error measurement and error compensation can be done.
文摘In order to overcome the shortcoming of the classical Hungarian algorithm that it can only solve the problems where the total cost is the sum of that of each job, an improved Hungarian algorithm is proposed and used to solve the assignment problem of serial-parallel systems. First of all, by replacing parallel jobs with virtual jobs, the proposed algorithm converts the serial-parallel system into a pure serial system, where the classical Hungarian algorithm can be used to generate a temporal assignment plan via optimization. Afterwards, the assignment plan is validated by checking whether the virtual jobs can be realized by real jobs through local searching. If the assignment plan is not valid, the converted system will be adapted by adjusting the parameters of virtual jobs, and then be optimized again. Through iterative searching, the valid optimal assignment plan can eventually be obtained.To evaluate the proposed algorithm, the valid optimal assignment plan is applied to labor allocation of a manufacturing system which is a typical serial-parallel system.
基金Sponsored by the National High-Tech Research and Development Program(Grant No.2006AA04Z201)
文摘The concept of legged-robot stability training with a training platform is proposed and a serial-parallel mechanism platform with 6 degrees of freedom is designed for this target. The designed platform is composed of 4-DOF parallel mechanism with spherical joints and prismatic pairs,and 2-DOF serial mechanism with prismatic pairs. With this design,the platform has advantages of low platform countertop,big workspace,high carrying capacity and high stiffness. On the basis of DOF analysis and computation of space mechanism,weight supporting auxiliary mechanism and raceways-balls supporting mechanism are designed,so as to improve the stiffness of designed large platform and payload capacity of servo motors. And then the whole structure design work of the platform is done. Meanwhile,this paper derives the analytical solutions of forward kinematics, inverse kinematics and inverse dynamics. The error analysis model of position and orientation is established. And then the simulation is done in ADAMS to ensure the correctness and feasibility of this design.
文摘Multicomputer systems(distributed memory computer systems) are becoming more and more popular and will be wildly used in scientific researches. In this paper, we present a parallel algorithm of Fourier Transform of a vector of complex numbers on multicomputer system and give its computing times and its speedup in parallel environment supported by EXPRESS system on the multicomputer system which consists of four SGI workstations. Our analysis shows that the results is ideal and this scheme is suitable to multicomputer systems.
文摘The Fourier transform is very important to numerous applications in science and engineering. However, its usefulness is hampered by its computational expense. In this paper, in an attempt to develop a faster method for computing Fourier transforms, the authors present parallel implementations of two new algorithms developed for the type IV Discrete Cosine Transform (DCT-IV) which support the new interleaved fast Fourier transform method. The authors discuss the realizations of their implementations using two paradigms. The first involved commodity equipment and the Message-Passing Interface (MPI) library. The second utilized the RapidMind development platform and the Cell Broadband Engine (BE) processor. These experiments indicate that the authors' rotation-based algorithm is preferable to their lifting-based algorithm on the platforms tested, with increased efficiency demonstrated by their MPI implementation for large data sets. Finally, the authors outline future work by discussing an architecture-oriented method for computing DCT-IVs which promises further optimization. The results indicate a promising fresh direction in the search for efficient ways to compute Fourier transforms.
文摘The transformation of parallel translation can improve the smoothness of discrete series sometimes. In this paper, for ship pitch, a method to modify the system error is proposed via the transformation of parallel translation, which can give the optimize parameters using the Method of Minimum Squares. The series in the method can fit white exponential law better, and then be applied in GM (1,1) very well. The numerical experiments imply that the method is practical, which make the ship pitch system model more accurate than GM ( 1,1 ).
文摘Osteoporosis is a systemic disease characterized by low bone mass,impaired bone microstruc-ture,increased bone fragility,and a higher risk of fractures.It commonly affects postmenopausal women and the elderly.Orthopantomography,also known as panoramic radiography,is a widely used imaging technique in dental examinations due to its low cost and easy accessibility.Previous studies have shown that the mandibular cortical index(MCI)derived from orthopantomography can serve as an important indicator of osteoporosis risk.To address this,this study proposes a parallel Transformer network based on multiple instance learning.By introducing parallel modules that alleviate optimization issues and integrating multiple-instance learning with the Transformer architecture,our model effectively extracts information from image patches.Our model achieves an accuracy of 86%and an AUC score of 0.963 on an osteoporosis dataset,which demonstrates its promising and competitive performance.
基金supported by the National Science and Technology Major project(No.2016ZX05024001003)the Innovation Consortium Project of China Petroleum,and the Southwest Petroleum University(No.2020CX010201).
文摘Oil and gas seismic exploration have to adopt irregular seismic acquisition due to the increasingly complex exploration conditions to adapt to complex geological conditions and environments.However,the irregular seismic acquisition is accompanied by the lack of acquisition data,which requires high-precision regularization.The sparse signal feature in the transform domain in compressed sensing theory is used in this paper to recover the missing signal,involving sparse transform base optimization and threshold modeling.First,this paper analyzes and compares the effects of six sparse transformation bases on the reconstruction accuracy and efficiency of irregular seismic data and establishes the quantitative relationship between sparse transformation and reconstruction accuracy and efficiency.Second,an adaptive threshold modeling method based on sparse coefficient is provided to improve the reconstruction accuracy.Test results show that the method has good adaptability to different seismic data and sparse transform bases.The f-x domain reconstruction method of effective frequency samples is studied to address the problem of low computational efficiency.The parallel computing strategy of curvelet transform combined with OpenMP is further proposed,which substantially improves the computational efficiency under the premise of ensuring the reconstruction accuracy.Finally,the actual acquisition data are used to verify the proposed method.The results indicate that the proposed method strategy can solve the regularization problem of irregular seismic data in production and improve the imaging quality of the target layer economically and efficiently.
基金the National Natural Science Foundation of China (No. 60171043, 60371046)
文摘In this paper, we propose two kinds of modifications in speaker recognition. First, the correlations between frequency channels are of prime importance for speaker recognition. Some of these correlations are lost when the frequency domain is divided into sub-bands. Consequently we propose a particularly redundant parallel architecture for which most of the correlations are kept. Second, generally a log transformation used to modify the power spectrum is done after the filter-bank in the classical spectrum calculation. We will see that performing this transformation before the filter bank is more interesting in our case. In the processing of recognition, the Gaussian mixture model (GMM) recognition arithmetic is adopted. Experiments on speech corrupted by noise show a better adaptability of this approach in noisy environments, comoared with a conventional device, esoeciallv when oruning of some recognizers is performed.
文摘Scale Invariant Feature Transform (SIFT) algorithm is a widely used computer vision algorithm that detects and extracts local feature descriptors from images. SIFT is computationally intensive, making it infeasible for single threaded im-plementation to extract local feature descriptors for high-resolution images in real time. In this paper, an approach to parallelization of the SIFT algorithm is demonstrated using NVIDIA’s Graphics Processing Unit (GPU). The parallel-ization design for SIFT on GPUs is divided into two stages, a) Algorithm de-sign-generic design strategies which focuses on data and b) Implementation de-sign-architecture specific design strategies which focuses on optimally using GPU resources for maximum occupancy. Increasing memory latency hiding, eliminating branches and data blocking achieve a significant decrease in aver-age computational time. Furthermore, it is observed via Paraver tools that our approach to parallelization while optimizing for maximum occupancy allows GPU to execute memory bound SIFT algorithm at optimal levels.
文摘This work presents a computational matrix framework in terms of tensor signal algebra for the formulation of discrete chirp Fourier transform algorithms. These algorithms are used in this work to estimate the point target functions (impulse response functions) of multiple-input multiple-output (MIMO) synthetic aperture radar (SAR) systems. This estimation technique is being studied as an alternative to the estimation of point target functions using the discrete cross-ambiguity function for certain types of environmental surveillance applications. The tensor signal algebra is presented as a mathematics environment composed of signal spaces, finite dimensional linear operators, and special matrices where algebraic methods are used to generate these signal transforms as computational estimators. Also, the tensor signal algebra contributes to analysis, design, and implementation of parallel algorithms. An instantiation of the framework was performed by using the MATLAB Parallel Computing Toolbox, where all the algorithms presented in this paper were implemented.
文摘We consider the flow of an incompressible viscous Maxwell fluid between two parallel plates, initially induced by a constant pressure gradient. The pressure gradient is withdrawn and the upper plate moves with a uniform velocity while the lower plate continues to be at rest. The arising flow is referred to as run-up flow. The unsteady governing equations are solved as initial value problem using Laplace transform technique. The expression for velocity, shear stresses on both plates and discharge are obtained. The behavior of the velocity, shear stresses and mass flux has been discussed in detail with respect to variations in different governing flow parameters and is presented through graphs.
基金Sponsored by the National Natural Science Foundation of China(Grant No.51275443 and 51005195)Key Project of Chinese Ministry of Education(Grant No.212012)+1 种基金Research Fund for the Doctoral Program of Higher Education of China(Grant No.20111333120004)Natural Science Foundationof Hebei Province(Grant No.E2012203034)
文摘As one of the typical less-mobility parallel mechanisms, the spherical parallel mechanism Up.s with two degrees of freedom (2-DOF) possess high order overconstraints, and the calculation of its stiffness is partly different with general parallel mechanisms owing to the bars in each branch are assumed to be arc-shaped. By means of small deformation superposition principle, the relationship between the angle displacement and line displacement of moving platform and the forces acted on the branches were derived out. Based on the results of static analysis, the relationship between the applied force, the line displacement and the angle displacement of the mechanism was set up. And then the stiffness matrix was obtained. The six principal stiffness of the mechanism and the corresponding directions were achieved by the orthogonal transformation. The numerical calculation was performed and the results showed that the principal stiffness and directions are varied with the pose-position of the mechanism, and the principal stiffness is gradually enlarged when it is far away from the anigin. In addition, the torsion stiffness is much greater and the line deformation stiffness is smaller, the difference between the two parts is huge. The research content of this paper supplies the theoretical foundation for the further engineering design and application of the spherical parallel mechanism.