A CAD Variation Geometric Approach of Solving Active/Constrained Forces of Some Parallel Manipulators with SPR-type Active Legs

摘要

A novel CAD geometric variation approach for solving active-passive forces of some parallel manipulators with SPR-type active legs is proposed. First, some methodical formulae for solving the active/constrained force matrix and active/constrained forces are derived. Second, some basic techniques for constructing the force simulation mechanism are described for solving the force matrix and active/constrained forces. Third, a 3SPR, a 2SPS+2SPR, and a 4SPS+SPR parallel manipulators are presented, respectively, to illustrate how to solve their pose parameters, active/constrained force matrices, and active/constrained forces by the approach. The solving results have been verified by the analytic approach.