Optimal type selection of 1T2R parallel mechanisms based on motion/force transmissibility

被引：3

作者：

Wang, Feibo ^{[1
]}

Wu, Weifeng ^{[1
]}

Chen, Xiang ^{[2
,3
]}

Li, Qinchuan ^{[1
]}

机构：

[1] Faculty of Mechanical Engineering & Automatic, Zhejiang Sci-Tech University, Hangzhou,310018, China

[2] Department of Mechanical Engineering, Tsinghua University, Beijing,100084, China

[3] Beijing Key Lab. of Precision/Ultra-Precision Manufacturing Equipments and Control, Tsinghua University, Beijing,100084, China

来源：

Jixie Gongcheng Xuebao/Journal of Mechanical Engineering | 2014年 / 50卷 / 23期

关键词：

Analytical equations - Motion/force transmissibility index - Optimal architecture - Optimal selection - Parallel mechanisms - Similar borders - Singularity configuration - Transmission performance;

D O I：

10.3901/JME.2014.23.020

中图分类号：

学科分类号：

摘要：

A 3-DOF (degrees of freedom) 1T2R parallel mechanism has one translational (T) DOF and two rotational (R) DOFs and can be used in many applications. It is very important to select optimal architectures that have practical potentials from the large available number of 1T2R parallel mechanisms. Force/motion transmission index based on screw theory is used to perform optimal selection from three 1T2R parallel mechanism, namely, 3-PRRU, 2-PRU-PRRU and 2-PRS-PRRU, where P denotes a prismatic pair, R indicates a revolute pair and U is a universal joint. Analytical equations of input twist, output twist and transmission wrench are established based on inverse kinematics. Instantaneous force/motion transmission performance index is obtained over the whole space and atlases are drawn. Based on the atlases, it is shown that the three parallel mechanisms have good force/motion transformation characteristics with similar border of singularities. The 3-PRRU parallel mechanism has the biggest good-working space. ©2014 Journal of Mechanical Engineering

引用

页码：20 / 28

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