Kinematic performance and accuracy analysis of new type 3-DOF parallel mechanism

被引：0

作者：

Huang P. ^{[1
]}

Wang L. ^{[1
]}

Guan L. ^{[1
]}

Yao R. ^{[1
]}

机构：

[1] Department of Precision Instruments and Mechanology, Tsinghua University

来源：

Jixie Gongcheng Xuebao/Journal of Mechanical Engineering | 2010年 / 46卷 / 15期

关键词：

3-DOF parallel mechanism; Accuracy analysis; Kinematics;

D O I：

10.3901/JME.2010.15.001

中图分类号：

学科分类号：

摘要：

Hybrid series-parallel mechanism, which contains the advantages of both series and parallel mechanisms, is used more and more widely in the manufacturing equipment for parts with complex free curved face. A 3-DOF parallel 3-PSP mechanism, which can realize one translational and two rotational motions, is proposed. The 3-PSP mechanism has accompanying motions. According to the analysis of motion mode, tilt-torsion angle for describing the motion of moving platform is adopted instead of traditional Euler angle, and based on that, kinematic model is built to solve the complete kinematic problem including accompanying motions and passive joint variables. Furthermore, the range of the joint, velocity characteristic, and accuracy characteristic are analyzed to demonstrate that the 3-PSP mechanism is fully suitable for parallel module in hybrid series-parallel frame which can fulfill the requirement of the complex parts in aerial, space, and automotive fields. © 2010 Journal of Mechanical Engineering.

引用

页码：1 / 7

页数：6

共 11 条

[1]

Yang B., Cai G., Luo J., Et al., The state of research on limited-DOF parallel robot, Machine Tool & Hydraulics, 5, pp. 202-205, (2006)

[2]

Hunt K.H., Structural kinematics of in-parallel-actuated robot arms, ASME Journal of Mechanisms, Transmission and Automation in Design, 105, 4, pp. 705-712, (1983)

[3]

Huang Z., Kong L., Fang Y., Mechanology Theory and Control of Parallel Robot, (1997)

[4]

Gao F., Zhao Y.S., Zhan Z.H., Physical model of the solution space for 3-DOF parallel planar manipulators, Mechanisms and Machine Theory, 31, 2, pp. 161-171, (1996)

[5]

Liu X., Wang J., Li J., Et al., On the workspace of a novel spatial 3-DOF parallel manipulator, Chinese Journal of Mechanical Engineering, 37, 10, pp. 36-39, (2001)

[6]

Liu X., Wang J., Wang Q., Et al., Workspace and rotational capability analysis of a spacial 3-DOF parallel robot, Progress in Natural Science, 15, 2, pp. 212-220, (2005)

[7]

Liu X., Wu C., Wang J., Et al., Attitude description method of [PP]S type parallel robotic mechanisms, Chinese Journal of Mechanical Engineering, 44, 10, pp. 19-23, (2008)

[8]

Liu X., Bonev I.A., Orientation capability, error analysis, and dimensional optimization of two articulated tool heads with parallel kinematics, ASME Journal of Manufacturing Science and Engineering, 130, 1, pp. 135-146, (2008)

[9]

Li J., Wang J., Inverse kinematic and dynamic analysis of a 3-DOF parallel mechanism, Chinese Journal of Mechanical Engineering, 16, 1, pp. 54-58, (2003)

[10]

Li S., Huang Z., Instantaneous kinematic characteristics of a special 3-UPU parallel manipulator, Chinese Journal of Mechanical Engineering, 18, 3, pp. 376-381, (2005)

← 1 2 →