Type Synthesis of Weakly-coupled Three-rotational Parallel Mechanisms Based on Inverse Jacobian Matrix

被引：0
作者：
Niu Y. [1 ,2 ]
Li F. [1 ,2 ]
Xu J. [3 ]
Li S. [1 ,2 ]
机构：
[1] Parallel Robot and Mechatronic System Laboratory of Hebei Province, Yanshan University, Qinhuangdao
[2] College of Mechanical Engineering, Yanshan University, Qinhuangdao
[3] School of Electrical Engineering, Yanshan University, Qinhuangdao
来源：
Nongye Jixie Xuebao/Transactions of the Chinese Society for Agricultural Machinery | 2023年 / 54卷 / 08期
关键词：
inverse Jacobian matrix; singular vector; transmission wrench screw; weakly-coupled three-rotational parallel mechanisms;
D O I：
10.6041/j.issn.1000-1298.2023.08.039
中图分类号：
学科分类号：
摘要：
To obtain the three-rotational parallel mechanism with large bearing capacity and easy control, the connection between the motion coupling of the parallel mechanism and the spatial geometric conditions of the transmission wrench screws was established by analyzing the meaning of the singular vectors in the inverse Jacobian matrix, and then a configuration synthesis method for the weakly-coupled three-rotational parallel mechanisms was proposed. Firstly, according to the motion coupling requirements of the parallel mechanism in different directions, the inverse Jacobian matrix was constructed, and the spatial geometric conditions of all transmission wrench screws were derived based on the inverse Jacobian matrix. Secondly, according to the relationship between the transmission wrench screws and the twist screws of the passive joints and the relationship between the constraint screws and twist screws of the active and passive joints, the types and arrangement conditions of the joints in each branch chain were obtained. On this basis, many branch chains whose active joints were mounted on the fixed platform were synthesized. Furthermore, the principles of selection and combination of branch chains were formulated, and based on the above principles, the configuration synthesis of the weakly-coupled three-rotational parallel mechanism was completed. Finally, the correctness of the proposed method was verified by the analysis of the motion coupling of three examples. © 2023 Chinese Society of Agricultural Machinery. All rights reserved.
引用
收藏
页码：402 / 410
页数：8
相关论文
共 27 条
  • [1] BAJAJ N M, SPIERS A J, DOLLAR A M., State of the art in artificial wrists： a review of prosthetic and robotic wrist design[J], IEEE Transactions on Robotics, 35, 1, pp. 261-277, (2019)
  • [2] LEAL-NARANJO J A, WANG M, PAREDES-ROJAS J C, Et al., Design and kinematic analysis of a new 3-DOF spherical parallel manipulator for a prosthetic wrist [J], Journal of the Brazilian Society of Mechanical Sciences and Engineering, 42, 1, pp. 1-12, (2020)
  • [3] YANG Yajing, SUN Tongshuai, ZHOU Yulin, Bionic hip joints based on bias output 3 - RRR + (S - P) spherical parallel mechanisms[J], China Mechanical Engineering, 27, 11, pp. 1421-1428, (2016)
  • [4] ZOU Y P, ZHANG A D, ZHANG Q, Et al., Design and experimental research of 3-RRS parallel ankle rehabilitation robot[J], Micromachines, 13, 6, (2022)
  • [5] CHANG T C, ZHANG X D., Kinematics and reliable analysis of decoupled parallel mechanism for ankle rehabilitation [J], Microelectronics Reliability, 99, pp. 203-212, (2019)
  • [6] KUMAR S, BONGARDT B, SIMNOFSKE M, Et al., Design and kinematic analysis of the novel almost spherical parallel mechanism active ankle[J], Journal of Intelligent & Robotic Systems, 94, 2, pp. 303-325, (2019)
  • [7] VALASEK M, ZICHA J, KARASEK M, Et al., Hexasphere-redundantly actuated parallel spherical mechanism as a new concept of agile telescope[J], Advances in Astronomy, 2010, (2010)
  • [8] ZHANG G, XIA X, HOU Y, Et al., Optimal design and trajectory tracking experiment of a novel 3-DOF parallel antenna mechanism[J], AIP Advances, 12, 2, (2022)
  • [9] LI H, LUO J, HUANG C, Et al., Design and control of 3-DOF spherical parallel mechanism robot eyes inspired by the binocular vestibule-ocular reflex[J], Journal of Intelligent & Robotic Systems, 78, 3, pp. 425-441, (2015)
  • [10] ZHANG L, GUO F, LI Y, Et al., Global dynamic modeling of electrohydraulic 3-UPS/S parallel stabilized platform by bond graph, Chinese Journal of Mechanical Engineering, 29, 6, pp. 1176-1185, (2016)
123