Analyzing Kinematics of a Novel 3CPS Parallel Manipulator Based on Rodrigues Parameters

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CHENG, Gang ;XU, Peng ;YANG, De-hua ;LI, Hui ;LIU, Hou-guang .
Analyzing Kinematics of a Novel 3CPS Parallel Manipulator Based on Rodrigues Parameters. 
Strojniški vestnik - Journal of Mechanical Engineering, [S.l.], v. 59, n.5, p. 291-300, june 2018. 
ISSN 0039-2480.
Available at: <https://www.sv-jme.eu/article/analyzing-kinematics-of-a-novel-3cps-parallel-manipulator-based-on-rodrigues-parameters/>. Date accessed: 09 dec. 2021. 
doi:http://dx.doi.org/10.5545/sv-jme.2012.727.
Cheng, G., Xu, P., Yang, D., Li, H., & Liu, H.
(2013).
Analyzing Kinematics of a Novel 3CPS Parallel Manipulator Based on Rodrigues Parameters.
Strojniški vestnik - Journal of Mechanical Engineering, 59(5), 291-300.
doi:http://dx.doi.org/10.5545/sv-jme.2012.727
@article{sv-jmesv-jme.2012.727,
	author = {Gang  Cheng and Peng  Xu and De-hua  Yang and Hui  Li and Hou-guang  Liu},
	title = {Analyzing Kinematics of a Novel 3CPS Parallel Manipulator Based on Rodrigues Parameters},
	journal = {Strojniški vestnik - Journal of Mechanical Engineering},
	volume = {59},
	number = {5},
	year = {2013},
	keywords = {active adjusting platform; 3CPS parallel manipulator; Rodrigues parameters; kinematics; photogrammetry;},
	abstract = {In order to adjust the poses of the segment mirrors and give the correct surface shape to a large aperture telescope, an active adjusting platform for segment mirror with a novel 3CPS parallel manipulator as core module is proposed. The platform has 6 degree-of-freedoms (DOFs) including three translational freedoms and three rotational freedoms. Its kinematics are analysed systematically. By means of the Rodrigues parameters method, the formulae for solving the inverse/forward displacement, the inverse/forward velocity, and the inverse/forward acceleration kinematics are derived. A numerical simulation of the kinematics model is then carried out combining the topological structure characteristics of the manipulator. The correctness of the kinematics model is verified by an experiment in which the pose of moving platform is measured using a photogrammetric method.},
	issn = {0039-2480},	pages = {291-300},	doi = {10.5545/sv-jme.2012.727},
	url = {https://www.sv-jme.eu/article/analyzing-kinematics-of-a-novel-3cps-parallel-manipulator-based-on-rodrigues-parameters/}
}
Cheng, G.,Xu, P.,Yang, D.,Li, H.,Liu, H.
2013 June 59. Analyzing Kinematics of a Novel 3CPS Parallel Manipulator Based on Rodrigues Parameters. Strojniški vestnik - Journal of Mechanical Engineering. [Online] 59:5
%A Cheng, Gang 
%A Xu, Peng 
%A Yang, De-hua 
%A Li, Hui 
%A Liu, Hou-guang 
%D 2013
%T Analyzing Kinematics of a Novel 3CPS Parallel Manipulator Based on Rodrigues Parameters
%B 2013
%9 active adjusting platform; 3CPS parallel manipulator; Rodrigues parameters; kinematics; photogrammetry;
%! Analyzing Kinematics of a Novel 3CPS Parallel Manipulator Based on Rodrigues Parameters
%K active adjusting platform; 3CPS parallel manipulator; Rodrigues parameters; kinematics; photogrammetry;
%X In order to adjust the poses of the segment mirrors and give the correct surface shape to a large aperture telescope, an active adjusting platform for segment mirror with a novel 3CPS parallel manipulator as core module is proposed. The platform has 6 degree-of-freedoms (DOFs) including three translational freedoms and three rotational freedoms. Its kinematics are analysed systematically. By means of the Rodrigues parameters method, the formulae for solving the inverse/forward displacement, the inverse/forward velocity, and the inverse/forward acceleration kinematics are derived. A numerical simulation of the kinematics model is then carried out combining the topological structure characteristics of the manipulator. The correctness of the kinematics model is verified by an experiment in which the pose of moving platform is measured using a photogrammetric method.
%U https://www.sv-jme.eu/article/analyzing-kinematics-of-a-novel-3cps-parallel-manipulator-based-on-rodrigues-parameters/
%0 Journal Article
%R 10.5545/sv-jme.2012.727
%& 291
%P 10
%J Strojniški vestnik - Journal of Mechanical Engineering
%V 59
%N 5
%@ 0039-2480
%8 2018-06-28
%7 2018-06-28
Cheng, Gang, Peng  Xu, De-hua  Yang, Hui  Li, & Hou-guang  Liu.
"Analyzing Kinematics of a Novel 3CPS Parallel Manipulator Based on Rodrigues Parameters." Strojniški vestnik - Journal of Mechanical Engineering [Online], 59.5 (2013): 291-300. Web.  09 Dec. 2021
TY  - JOUR
AU  - Cheng, Gang 
AU  - Xu, Peng 
AU  - Yang, De-hua 
AU  - Li, Hui 
AU  - Liu, Hou-guang 
PY  - 2013
TI  - Analyzing Kinematics of a Novel 3CPS Parallel Manipulator Based on Rodrigues Parameters
JF  - Strojniški vestnik - Journal of Mechanical Engineering
DO  - 10.5545/sv-jme.2012.727
KW  - active adjusting platform; 3CPS parallel manipulator; Rodrigues parameters; kinematics; photogrammetry;
N2  - In order to adjust the poses of the segment mirrors and give the correct surface shape to a large aperture telescope, an active adjusting platform for segment mirror with a novel 3CPS parallel manipulator as core module is proposed. The platform has 6 degree-of-freedoms (DOFs) including three translational freedoms and three rotational freedoms. Its kinematics are analysed systematically. By means of the Rodrigues parameters method, the formulae for solving the inverse/forward displacement, the inverse/forward velocity, and the inverse/forward acceleration kinematics are derived. A numerical simulation of the kinematics model is then carried out combining the topological structure characteristics of the manipulator. The correctness of the kinematics model is verified by an experiment in which the pose of moving platform is measured using a photogrammetric method.
UR  - https://www.sv-jme.eu/article/analyzing-kinematics-of-a-novel-3cps-parallel-manipulator-based-on-rodrigues-parameters/
@article{{sv-jme}{sv-jme.2012.727},
	author = {Cheng, G., Xu, P., Yang, D., Li, H., Liu, H.},
	title = {Analyzing Kinematics of a Novel 3CPS Parallel Manipulator Based on Rodrigues Parameters},
	journal = {Strojniški vestnik - Journal of Mechanical Engineering},
	volume = {59},
	number = {5},
	year = {2013},
	doi = {10.5545/sv-jme.2012.727},
	url = {https://www.sv-jme.eu/article/analyzing-kinematics-of-a-novel-3cps-parallel-manipulator-based-on-rodrigues-parameters/}
}
TY  - JOUR
AU  - Cheng, Gang 
AU  - Xu, Peng 
AU  - Yang, De-hua 
AU  - Li, Hui 
AU  - Liu, Hou-guang 
PY  - 2018/06/28
TI  - Analyzing Kinematics of a Novel 3CPS Parallel Manipulator Based on Rodrigues Parameters
JF  - Strojniški vestnik - Journal of Mechanical Engineering; Vol 59, No 5 (2013): Strojniški vestnik - Journal of Mechanical Engineering
DO  - 10.5545/sv-jme.2012.727
KW  - active adjusting platform, 3CPS parallel manipulator, Rodrigues parameters, kinematics, photogrammetry,
N2  - In order to adjust the poses of the segment mirrors and give the correct surface shape to a large aperture telescope, an active adjusting platform for segment mirror with a novel 3CPS parallel manipulator as core module is proposed. The platform has 6 degree-of-freedoms (DOFs) including three translational freedoms and three rotational freedoms. Its kinematics are analysed systematically. By means of the Rodrigues parameters method, the formulae for solving the inverse/forward displacement, the inverse/forward velocity, and the inverse/forward acceleration kinematics are derived. A numerical simulation of the kinematics model is then carried out combining the topological structure characteristics of the manipulator. The correctness of the kinematics model is verified by an experiment in which the pose of moving platform is measured using a photogrammetric method.
UR  - https://www.sv-jme.eu/article/analyzing-kinematics-of-a-novel-3cps-parallel-manipulator-based-on-rodrigues-parameters/
Cheng, Gang, Xu, Peng, Yang, De-hua, Li, Hui, AND Liu, Hou-guang.
"Analyzing Kinematics of a Novel 3CPS Parallel Manipulator Based on Rodrigues Parameters" Strojniški vestnik - Journal of Mechanical Engineering [Online], Volume 59 Number 5 (28 June 2018)

Authors

Affiliations

  • College of Mechanical and Electrical Engineering, China University of Mining and Technology, Xuzhou, PR China 1
  • National Astronomical Observatories/Nanjing Institute of Astronomical Optics and Technology, Chinese Academy of Sciences, Nanjing, PR China 2
  • National Astronomical Observatories/Nanjing, Institute of Astronomical Optics and Technology, Chinese Academy of Sciences, Nanjing, PR China 3

Paper's information

Strojniški vestnik - Journal of Mechanical Engineering 59(2013)5, 291-300

https://doi.org/10.5545/sv-jme.2012.727

In order to adjust the poses of the segment mirrors and give the correct surface shape to a large aperture telescope, an active adjusting platform for segment mirror with a novel 3CPS parallel manipulator as core module is proposed. The platform has 6 degree-of-freedoms (DOFs) including three translational freedoms and three rotational freedoms. Its kinematics are analysed systematically. By means of the Rodrigues parameters method, the formulae for solving the inverse/forward displacement, the inverse/forward velocity, and the inverse/forward acceleration kinematics are derived. A numerical simulation of the kinematics model is then carried out combining the topological structure characteristics of the manipulator. The correctness of the kinematics model is verified by an experiment in which the pose of moving platform is measured using a photogrammetric method.

active adjusting platform; 3CPS parallel manipulator; Rodrigues parameters; kinematics; photogrammetry;