Design of a new gravity balanced parallel mechanism with Schonflies motion

被引：11

作者：

Kang, Long ^{[1
]}

Oh, Se-Min ^{[1
]}

Kim, Wheekuk ^{[2
]}

Yi, Byung-Ju ^{[1
]}

机构：

[1] Hanyang Univ, Dept Elect Syst Engn, 1271 Sa 3 Dong, Ansan 426791, Gyeonggi, South Korea

[2] Korea Univ, Dept Control Measurement & Instrumentat Engn, Seoul, South Korea

来源：

PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART C-JOURNAL OF MECHANICAL ENGINEERING SCIENCE | 2016年 / 230卷 / 17期

基金：

新加坡国家研究基金会;

关键词：

Parallel mechanism; mobility; kinematics modeling; screw theory; singularity analysis; Grassmann line geometry; optimal design; gravity balancing; SINGULARITY ANALYSIS; MANIPULATORS; ROBOT; 4-DOF; KINEMATICS;

D O I：

10.1177/0954406215605862

中图分类号：

TH [机械、仪表工业];

学科分类号：

0802 ;

摘要：

In this paper, a new gravity-balanced 3T1R parallel mechanism is addressed. Firstly, structure description, inverse and forward kinematic modeling are performed in detail. Secondly, Jacobian derivation based on screw theory and singularity analysis using Grassmann Line Geometry is performed, and then optimal kinematic design with respect to workspace size, kinematic isotropy and maximum force transmission ratio are conducted. Thirdly, the gravity balancing design using both counterweights and springs is proposed and a prototype of this mechanism is also presented. Results of analysis show that the proposed mechanism has quite a few potential applications.

引用

页码：3111 / 3134

页数：24

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