Kinematic Performance and Static Analysis of a Two-Degree-of-Freedom 3-RPS/US Parallel Manipulator With Two Passive Limbs

被引：2

作者：

Li, Xiao ^{[1
]}

Qu, Haibo ^{[2
]}

Guo, Sheng ^{[2
]}

机构：

[1] Beijing Jiaotong Univ, Sch Mech Elect & Control Engn, Robot Res Ctr, Beijing 100044, Peoples R China

[2] Beijing Jiaotong Univ, Robot Res Ctr, Sch Mech Elect & Control Engn, Key Lab Vehicle Adv Mfg Measuring & Control Techno, Beijing 100044, Peoples R China

来源：

JOURNAL OF MECHANISMS AND ROBOTICS-TRANSACTIONS OF THE ASME | 2023年 / 15卷 / 02期

基金：

中国国家自然科学基金;

关键词：

parallel manipulator; 2-DOF; passive limb; static analysis; mechanism design; parallel platforms; DESIGN; WORKSPACE; MECHANISM;

D O I：

10.1115/1.4054767

中图分类号：

TH [机械、仪表工业];

学科分类号：

0802 ;

摘要：

In this paper, a new 3-RPS (the limb consisting of one revolute, one prismatic, and one spherical joint)/US (universal joint and spherical joint) parallel mechanism with two degrees-of-freedom (DOFs) is obtained by adding a US passive limb into the 3-RPS parallel mechanism with the aim of obtaining a high load-bearing capacity. The moving platform possesses two rotational motions, analyzed by the Grassmann line geometry and screw theory. Then, the kinematic performance of the mechanism is analyzed, including inverse kinematics, overall Jacobian matrix, workspace, and singularity. On this basis, the mapping between the driving force and the load on the moving platform is deduced and verified by simulation. Next, the static of the proposed parallel mechanism is compared with that of the 3-RPS mechanism. The results show that the load-bearing capacity of the mechanism is improved by introducing the US passive limb. Finally, a case study verifies the potential application of the mechanism as a dual-axis tracking photovoltaic bracket.

引用

页数：12

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