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Statics and Kinematis Analysis of PSS-type Redundant Input Parallel Mechanism

Feng Gao, Yanfei Zhang

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Abstract

An 8-PSS redundant input parallel mechanism is presented in this paper,with the statics balance(equations) and force Jacobian matrix being founded.By the method of vector operation,the velocity Jacobian matrix is also deduced.It is verified that transpose of the force Jacobian matrix is just the velocity Jacobian matrix,which is(independent) of the number of redundant inputs.Finally,the validity of the conclusion is proved by an example.

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What this paper is about

An 8-PSS redundant input parallel mechanism is presented in this paper,with the statics balance(equations) and force Jacobian matrix being founded.By the method of vector operation,the velocity Jacobian matrix is also deduced.It is verified that transpose of the force Jacobian matrix is just the velocity Jacobian matrix,which is(independent) of the number of redundant inputs.Finally,the validity of the conclusion is proved by an example.

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Available abstract

An 8-PSS redundant input parallel mechanism is presented in this paper,with the statics balance(equations) and force Jacobian matrix being founded.By the method of vector operation,the velocity Jacobian matrix is also deduced.It is verified that transpose of the force Jacobian matrix is just the velocity Jacobian matrix,which is(independent) of the number of redundant inputs.Finally,the validity of the conclusion is proved by an example.

Key concepts: Jacobian matrix and determinant, Statics, Transpose, Matrix (chemical analysis), Mathematics, Mechanism (biology), Type (biology), Control theory (sociology)

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