Analysis and Type Synthesis of Parallel Mechanisms without Parasitic Motion based on Spatial Geometry

被引：0
|
作者：
Chen M. [1 ]
Zhang Q. [1 ]
Chen W. [1 ]
Qin X. [1 ]
Sun Y. [1 ]
机构：
[1] School of Mechanical and Energy Engineering, Tongji University, Shanghai
来源：
Jixie Gongcheng Xuebao/Journal of Mechanical Engineering | 2021年 / 57卷 / 01期
关键词：
1T2R parallel mechanism; Geometrical conditions; Parasitic motion; Screw theory;
D O I：
10.3901/JME.2021.01.077
中图分类号：
学科分类号：
摘要：
Parasitic motion widely exists in general 1T2R (one translation and two rotations) parallel mechanism, which has a negative influence on motion accuracy and performances of mechanism. To obtain a series of 1T2R parallel mechanisms without parasitic motion, the analysis and type synthesis of parallel mechanisms are conducted based on spatial geometry and screw theory. The condition of rotational axes of parallel mechanism without parasitic motion is analyzed based on spatial geometry theory, then the spatial position relationship between the plane of moving platform and constraint wrenches is explored with screw theory. Branch chains with at least 1T2R degrees of freedom are divided into four types, and positions of constraint wrenches and rotational axes which cause parasitic motions directly are discussed with different [R]- branch chain layouts. The synthesis criteria and geometrical conditions of 1T2R parallel mechanism without parasitic motion are deduced, and 105 kinds of mechanism without parasitic motion are obtained through type synthesis. The kinematics of a new 2RPU-RPRU parallel mechanism without parasitic motion is analyzed to verify the correctness of the method. © 2021 Journal of Mechanical Engineering.
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页码：77 / 85
页数：8
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