The Dynamics Simulation of Spatial RSSR_SC Mechanism

G. Xijuan, L. Shuang, and L. Xiaoman (PRC)


Dynamics simulation, Global conditioning index, Influence coefficient matrix, Parallel manipulators


In this paper a RSSR_SC simulation model is made in order to validate the correctness of influence coefficient matrix and global conditioning index, and the global conditioning index includes the Jacobian matrix and Hessian matrix. Some different curves of the velocity and acceleration are plotted, by which the performance of the RSSR_SC mechanism can be estimated. The mechanisms, which have better performance than others, can be easily selected according to the analysis for the curves.1

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