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Kinematics analysis of six-bar parallel mechanism and its applications in synchrotron radiation beamline
Lu, Qipeng; Li, Yongjun(李永军); Peng, Zhongqi
2012
Source PublicationNUCLEAR INSTRUMENTS & METHODS IN PHYSICS RESEARCH SECTION A-ACCELERATORS SPECTROMETERS DETECTORS AND ASSOCIATED EQUIPMENT
ISSN0168-9002
Volume674Pages:8
AbstractSix-bar parallel mechanism is now widely applied in synchrotron radiation beamline, while the six-dimensional adjustment is difficult and inefficient for lack of theoretical direction. This paper introduces a special six-bar parallel mechanism. By means of coordinate transformations, the inverse kinematics of six-bar parallel mechanism is studied, and the precise equations for six bars' lengths are obtained. Based on the inverse kinematics, forward kinematics of six-bar parallel mechanism is obtained with trust region method working for nonlinear optimization. The corresponding MATLAB program is also designed. The results show that trust region method is an effective way to solve forward kinematics, and the program is stable, reliable and rapid. This method has small errors with linear precision of 10(-12) mm and rotational precision of 10(-15) deg. Using differential snail adjustment, monochromator chamber's attitude can reach a linear resolution of 5 mu m and a rotational resolution of 3 '', which entirely satisfies the practical requirements. (C) 2012 Elsevier B.V. All rights reserved.
Indexed BySCI
Language英语
Funding Project应物所项目组
WOS IDWOS:000302511200002
Citation statistics
Cited Times:2[WOS]   [WOS Record]     [Related Records in WOS]
Document Type期刊论文
Identifierhttp://ir.sinap.ac.cn/handle/331007/12904
Collection中科院上海应用物理研究所2011-2020年
Recommended Citation
GB/T 7714
Lu, Qipeng,Li, Yongjun,Peng, Zhongqi. Kinematics analysis of six-bar parallel mechanism and its applications in synchrotron radiation beamline[J]. NUCLEAR INSTRUMENTS & METHODS IN PHYSICS RESEARCH SECTION A-ACCELERATORS SPECTROMETERS DETECTORS AND ASSOCIATED EQUIPMENT,2012,674:8.
APA Lu, Qipeng,Li, Yongjun,&Peng, Zhongqi.(2012).Kinematics analysis of six-bar parallel mechanism and its applications in synchrotron radiation beamline.NUCLEAR INSTRUMENTS & METHODS IN PHYSICS RESEARCH SECTION A-ACCELERATORS SPECTROMETERS DETECTORS AND ASSOCIATED EQUIPMENT,674,8.
MLA Lu, Qipeng,et al."Kinematics analysis of six-bar parallel mechanism and its applications in synchrotron radiation beamline".NUCLEAR INSTRUMENTS & METHODS IN PHYSICS RESEARCH SECTION A-ACCELERATORS SPECTROMETERS DETECTORS AND ASSOCIATED EQUIPMENT 674(2012):8.
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