KINEMATICS ANALYSIS OF A NOVEL 2R1T PARALLEL MECHANISM

被引：10

作者：

Tang, Hongyan ^{[1
]}

Zhang, Dan ^{[1
,2
]}

Guo, Sheng ^{[1
]}

Qu, Haibo ^{[1
]}

Huang, Guanyu ^{[1
]}

机构：

[1] Beijing Jiaotong Univ, Sch Mech Elect & Control Engn, Beijing, Peoples R China

[2] York Univ, Dept Mech Engn, Toronto, ON, Canada

来源：

INTERNATIONAL JOURNAL OF ROBOTICS & AUTOMATION | 2018年 / 33卷 / 02期

基金：

中国国家自然科学基金;

关键词：

Parallel; 2R1T; performance; kinematics; optimization; MANIPULATORS; 1T2R;

D O I：

10.2316/Journal.206.2018.2.206-5064

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this paper, a parallel mechanism with two rotational degrees of freedom (DOF) along X- and Y-axes and one translational DOF along the Z-axis is present. At first, a special geometric solid with the property of 2R1T is proposed. Then, a novel 2R1T parallel mechanism which embodies the same property of 2R1T is designed with structure design. The special geometrical nature enables the mechanism to be operated without parasitic motion. The symmetrical structure will increase the mechanism balancing and manipulability. Several important issues including direct kinematics, inverse kinematics, Jacobian matrices, stiffness, transmission coefficient, good transmission workspace and global composite performance index (GCPI) of the mechanism are investigated with screw theory and vector method. In addition, the base radii are optimized for the best GCPI. Finally, the novel mechanism is developed as a forearm rehabilitation of the upper limb rehabilitation system.

引用

页码：127 / 140

页数：14

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