A finite screw approach to type synthesis of three-DOF translational parallel mechanisms

被引：76

作者：

Yang, Shuofei ^{[1
]}

Sun, Tao ^{[1
]}

Huang, Tian ^{[1
,3
]}

Li, Qinchuan ^{[2
]}

Gu, Dongbing ^{[4
]}

机构：

[1] Tianjin Univ, Key Lab Mech Theory & Equipment Design, Minist Educ, Tianjin 300072, Peoples R China

[2] Zhejiang Sci Tech Univ, Mechatron Inst, Hangzhou 310018, Peoples R China

[3] Univ Warwick, Sch Engn, Coventry CV4 7AL, W Midlands, England

[4] Univ Essex, Sch Comp Sci & Elect Engn, Colchester CO4 3SQ, Essex, England

来源：

MECHANISM AND MACHINE THEORY | 2016年 / 104卷

基金：

中国国家自然科学基金;

关键词：

Three-DOF translational parallel mechanisms; Finite screw; Type synthesis; MANIPULATORS; DISPLACEMENTS; SYSTEMS;

D O I：

10.1016/j.mechmachtheory.2016.02.018

中图分类号：

TH [机械、仪表工业];

学科分类号：

0802 ;

摘要：

This paper for the first time presents a finite screw approach to type synthesis of three-degree-of-freedom (DOF) translational parallel mechanisms (TPMs). Firstly, the finite motions of a rigid body, a TPM and its limbs are described by finite screws. Secondly, given the standard form of a limb with the specified DOF, the analytical expressions of the finite screw attributed to the limb are derived using the properties of screw triangle product, resulting in a full set of the 3-, 4-and 5-DOF limbs that can readily be used for determining all the potential topological structures of TPMs. Finally, the assembly conditions for type synthesis of TPMs are proposed by taking into account the inclusive relationship between the finite motions of a TPM and those of its limbs. The merit of this approach lies in that the limb structures can be formulated in a justifiable manner that naturally ensures the full cycle finite motion pattern specified to the moving platform. (C) 2016 Elsevier Ltd. All rights reserved.

引用

页码：405 / 419

页数：15

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