A compound load simulator based on zero-torsion parallel mechanisms

doi:10.1007/s11465-012-0306-7

Front Mech Eng

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A compound load simulator based on zero-torsion parallel mechanisms

Jingjun YU(

), Wei LI, Xu PEI, Shusheng BI, Guanghua ZONG

Robotics Institute, Beihang University, Beijing 100191, China

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Corresponding Author(s): YU Jingjun,Email:jjyu@buaa.edu.cn

Issue Date: 05 March 2012

Cite this article:

Jingjun YU,Wei LI,Xu PEI, et al. A compound load simulator based on zero-torsion parallel mechanisms[J]. Front Mech Eng, 0, (): 1-4.

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https://academic.hep.com.cn/fme/EN/10.1007/s11465-012-0306-7
https://academic.hep.com.cn/fme/EN/Y0/V/I/1

Fig.1 Schematic diagram of 3-RPS parallel mechanism. (a) 3-RPS parallel mechanism; (b) topological structure

Fig.2 1—base platform; 2—revolute joint; 3—prismatic joint; 4—force sensor; 5—spherical joint; 6—testing shaft; 7—elastic beam
Structural diagram of a 3-dimensional load simulator

Fig.3 Schematic diagram of force analysis

Fig.4 A group of position and force output in terms of different layout form of the elasticity elements. (a) Comparisons of the command force and actual force when the elastic elements are located at the back end of the sensor; (b) Command position, actual position and actual force when the elastic elements are located at the front end of the sensor (command position-red line, actual position-green line, actual force-blue line)

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