Type Synthesis of Structural Symmetry One Degree-of-freedom of Helical Motion Parallel Mechanisms

被引：0

作者：

Yang Y. ^{[1
,2
]}

Zhen C. ^{[2
]}

Hou Y. ^{[2
]}

Zeng D. ^{[2
]}

机构：

[1] Hebei Provincial Key Laboratory of Parallel Robot and Mechatronic System, Yanshan University, Qinhuangdao

[2] School of Mechanical Engineering, Yanshan University, Qinhuangdao

来源：

Jixie Gongcheng Xuebao/Journal of Mechanical Engineering | 2019年 / 55卷 / 03期

关键词：

Helical motion; Motion transformation mechanism; Parallel mechanism; Type synthesis;

D O I：

10.3901/JME.2019.03.027

中图分类号：

学科分类号：

摘要：

The design scheme based on the parallel mechanism is proposed in view of the function demand of regenerative shock absorber motion transfer mechanisms. Based on the constraint screw theory, a type of synthesis approach for structure symmetrical one degree of freedom helical motion (1H) parallel mechanism is proposed. By using the screw theory, the method of decomposing the wrench into multiple forces in space is given. Based on that, the constraint wrench in the constraint screw system of the moving platform is decomposed into linearly independent constraint forces, and the number of these forces is equal to that of the limbs. Replacing the constraint wrench by these forces and constructing a new constraint screw system of the mechanism, after that the constraint screw system of the limbs is determined by using the screw theory and the spatial geometric theory, and the kinematic screw system of the limbs is obtained. Type synthesis of all the right limbs is accomplished by means of linear combination and equivalent substitution. Symmetrical arrangements limbs with the same structure along the moving platform and the fixed platform obtains a series of expected mechanisms. The degree of freedom analysis of a novel 3-UU parallel mechanism is performed and the result shows that the method of type synthesis for structural symmetry 1H parallel mechanisms proposed here is correct. © 2019 Journal of Mechanical Engineering.

引用

页码：27 / 33

页数：6

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