Kinematics analysis of a novel 2R1T 3-PUU parallel mechanism with multiple rotation centers

被引：13

作者：

Chen, Ziming ^{[1
,2
]}

Li, Meng ^{[1
,2
]}

Kong, Xianwen ^{[3
]}

Zhao, Chen ^{[1
,2
]}

机构：

[1] Yanshan Univ, Sch Mech Engn, 438 West Hebei Ave, Qinhuangdao 066004, Hebei, Peoples R China

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

[3] Heriot Watt Univ, Sch Engn & Phys Sci, Edinburgh EH14 4AS, Midlothian, Scotland

来源：

MECHANISM AND MACHINE THEORY | 2020年 / 152卷

基金：

中国国家自然科学基金;

关键词：

Parallel mechanism; Inverse kinematics; Singularity; Workspace; Multiple rotation centers; SINGULARITY ANALYSIS; ORIENTATION WORKSPACE; OPTIMIZATION;

D O I：

10.1016/j.mechmachtheory.2020.103938

中图分类号：

TH [机械、仪表工业];

学科分类号：

0802 ;

摘要：

In this paper, we present a novel three-degree-of-freedom (3-DOF) 3-PUU parallel mechanism (PM) with multiple rotation centers. Having two rotational DOFs and one translational DOF, the 3-PUU parallel robot consists of a fixed platform, a movable platform, and three identical PUU branches. Each PUU branch is composed of one prismatic(P) joint and two universal(U) joints. The mobility of initial configuration of the 3-PUU PM is analyzed using the reciprocal screw theory. Analysis of the 3-PUU PM's mobility of general configuration is performed based on its geometrical characteristics. The movable platform of the 3-PUU PM is demonstrated to be capable of rotating around multiple points. The singularities of 3-PUU PM are discussed. Using the inverse kinematics method, the workspace is obtained. Numerical examples are provided to illustrate the motion characteristics of the 3-PUU PM as a mechanism with multiple rotation centers. (C) 2020 Elsevier Ltd. All rights reserved.

引用

页数：17

共 32 条

[1]

[Anonymous], 2000, US Patent, Patent No. [2,349,579, 2349579]

[2] A new approach to orientation workspace analysis of 6-DOF parallel manipulators [J].

Bonev, IA ;

Ryu, J .

MECHANISM AND MACHINE THEORY, 2001, 36 (01) :15-28

[3] Kinematic analysis and optimization of a new three degree-of-freedom spatial parallel manipulator [J].

Carretero, JA ;

Podhorodeski, RP ;

Nahon, MA ;

Gosselin, CM .

JOURNAL OF MECHANICAL DESIGN, 2000, 122 (01) :17-24

[4]

Chen S, 2015, ANN ROY COLL SURG, V97, P3, DOI [10.1308/rcsann.2015.97.1.3, 10.1308/003588414X13946184903649]

[5]

Chen Z., 2017, ASME P INT DES ENG T

[6] Continuous motion of a novel 3-CRC symmetrical parallel mechanism [J].

Chen, Ziming ;

Cao, Wen-ao ;

Ding, Huafeng ;

Huang, Zhen .

PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART C-JOURNAL OF MECHANICAL ENGINEERING SCIENCE, 2016, 230 (03) :392-405

[7] Mobility analysis of the 3-UPU parallel mechanism assembled for a pure translational motion [J].

Di Gregorio, R ;

Parenti-Castelli, V .

JOURNAL OF MECHANICAL DESIGN, 2002, 124 (02) :259-264

[8] SINGULARITY ANALYSIS OF CLOSED-LOOP KINEMATIC CHAINS [J].

GOSSELIN, C ;

ANGELES, J .

IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION, 1990, 6 (03) :281-290

[9] Workspace analysis and optimization of 3-PUU parallel mechanism in medicine base on genetic algorithm [J].

Hou, Yongchao ;

Zhao, Yang .

Open Biomedical Engineering Journal, 2015, 9 :214-218

[10] STRUCTURAL KINEMATICS OF IN-PARALLEL-ACTUATED ROBOT-ARMS [J].

HUNT, KH .

JOURNAL OF MECHANISMS TRANSMISSIONS AND AUTOMATION IN DESIGN-TRANSACTIONS OF THE ASME, 1983, 105 (04) :705-712

← 1 2 3 4 →