QQ客服 官方微博 反馈留言

	Homing strategy for a redundantly actuated parallel kinematic machine
	Wang, Jinsong ; Wu, Jun ; Wang, Liping ; Li, Tiemin
	2010-05-10 ; 2010-05-10
关键词	homing redundantly actuated parallel kinematic machine assistant homing strategy MANIPULATORS MECHANISM DESIGN Engineering, Mechanical
中文摘要	In the homing process of a regular parallel kinematic machine (PKM), all servoaxes are independently driven to return to their homing positions. However, in a redundantly actuated PKM, the redundant limb will interfere with other servoaxes. This paper concerns the homing of a redundant four degree of freedom PKM, and an assistant homing strategy is proposed for the machine to pass the singular configuration in the homing process. After the assistant homing is finished, the other four nonredundant axes are driven to return to their home positions independently. Based on the kinematic model and the length of the redundant limb, the condition that the redundant limb performs assistant homing is determined. The homing strategy is incorporated into the numerical control system of the studied PKM. The test shows that the homing strategy is effective, and it can also be useful for other kinds of redundantly actuated PKMs.
语种	英语 ; 英语
出版者	ASME-AMER SOC MECHANICAL ENG ; NEW YORK ; THREE PARK AVE, NEW YORK, NY 10016-5990 USA
内容类型	期刊论文
源URL	[http://hdl.handle.net/123456789/24942]
专题	清华大学
推荐引用方式 GB/T 7714	Wang, Jinsong,Wu, Jun,Wang, Liping,et al. Homing strategy for a redundantly actuated parallel kinematic machine[J],2010, 2010.
APA	Wang, Jinsong,Wu, Jun,Wang, Liping,&Li, Tiemin.(2010).Homing strategy for a redundantly actuated parallel kinematic machine..
MLA	Wang, Jinsong,et al."Homing strategy for a redundantly actuated parallel kinematic machine".(2010).

个性服务

查看访问统计

相关权益政策

暂无数据

收藏/分享

除非特别说明，本系统中所有内容都受版权保护，并保留所有权利。