Singularity Analysis and Dimensional Synthesis of a 2R1T 3-UPU Parallel Mechanism Based on Performance Atlas

被引：14

作者：

Song, Jingke ^{[1
,2
]}

Zhao, Chen ^{[1
,2
]}

Zhao, Kun ^{[1
,2
]}

Yan, Wenjiang ^{[1
,2
]}

Chen, Ziming ^{[1
,2
]}

机构：

[1] Yanshan Univ, Sch Mech Engn, Qinhuangdao 066004, Hebei, Peoples R China

[2] Yanshan Univ, Parallel Robot & Mechatron Syst Lab Hebei Prov, Qinhuangdao 066004, Hebei, Peoples R China

来源：

JOURNAL OF MECHANISMS AND ROBOTICS-TRANSACTIONS OF THE ASME | 2023年 / 15卷 / 01期

基金：

中国国家自然科学基金;

关键词：

parallel mechanism; 2R1T; singularity; performance evaluation; dimensional synthesis; mechanism design; mechanism synthesis; parallel platforms; KINEMATIC DESIGN; OPTIMIZATION; MANIPULATORS; ROBOT; PRINCIPLE; WORKSPACE;

D O I：

10.1115/1.4053826

中图分类号：

TH [机械、仪表工业];

学科分类号：

0802 ;

摘要：

In this paper, a symmetric 3-UPU (U and P represent universal and prismatic joints, individually) parallel mechanism and its variant mechanism under different geometric and assembly conditions are analyzed. Both have two rotational and one translational (2R1T) DOFs and do not involve any parasitic motion. First, the kinematic performance of the mechanisms is discussed based on the motion/force transmission index and constraint index. Then, the singularity of the mechanism is analyzed systematically based on the local performance atlases, performance curves, and the screw theory. Finally, the global design indices are determined in accordance with the local performance indices in consideration of the motion/force transmissibility and constrainability to achieve the dimensional optimization of the 2R1T 3-UPU parallel mechanism.

引用

页数：10

共 55 条

[1] Topology optimisation and singularity analysis of a 3-SPS parallel manipulator with a passive constraining spherical joint [J].