Design of a family of multi-DOF drive systems for fewer limb parallel mechanisms

被引：15

作者：

Li, Luquan ^{[1
]}

Fang, Yuefa ^{[1
]}

Wang, Lin ^{[1
]}

机构：

[1] Beijing Jiaotong Univ, Dept Mech Engn, Beijing 100044, Peoples R China

来源：

MECHANISM AND MACHINE THEORY | 2020年 / 148卷

基金：

中国国家自然科学基金;

关键词：

Multi-DOF drive system; 2-DOF driver; Single-loop parallel mechanism; Lie group theory; Kinematic analysis; KINEMATIC DESIGN; LIE GROUP; WORKSPACE; MANIPULATORS; SINGULARITY; ROBOT;

D O I：

10.1016/j.mechmachtheory.2020.103802

中图分类号：

TH [机械、仪表工业];

学科分类号：

0802 ;

摘要：

Inspired by fewer-limb multi-degree-of-freedom (DOF) parallel mechanisms (PMs), a systematic method that synthesizes multi-DOF drive systems is presented based on Lie group theory. Multi-DOF drive systems can generate more DOFs motion than a pure rotation or a pure translation. The benefit of such multi-DOF drive systems is that all motors are mounted on a fixed base. The topological structures of novel single-loop PMs and multi-DOF drive systems are proposed. A class of 2-DOF drivers are designed. The motion types of the multi-DOF drive systems are systematically synthesized based on Lie group theory. Moreover, a family of 3-DOF drive systems are developed based on the designed 2-DOF drivers and synthesized motion types. Multi-DOF drive systems play a key role in simplifying the structure of PMs to improve the motion characteristics of PMs. A novel single-loop PM is designed to illustrate the application of the designed multi-DOF drive system, and kinematics analysis is performed to reveal the motion characteristics of the single-loop PM with the novel multi-DOF drive system. (C) 2020 Elsevier Ltd. All rights reserved.

引用

页数：16

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