Kinematic performance evaluation of 2-degree-of-freedom parallel mechanism applied in multilayer garage

被引:4
作者
He, Tianhua [1 ,2 ]
Shao, Junpeng [1 ]
Zhang, Yongde [1 ,2 ]
Jiang, Jingang [1 ,2 ]
机构
[1] Harbin Univ Sci & Technol, Sch Mech & Power Engn, Harbin 150080, Heilongjiang, Peoples R China
[2] Harbin Univ Sci & Technol, Intelligent Machine Inst, Harbin, Heilongjiang, Peoples R China
来源
ADVANCES IN MECHANICAL ENGINEERING | 2018年 / 10卷 / 08期
关键词
2 degree-of-freedom lower-mobility parallel mechanism; kinematic performance evaluation; global symmetry index; flexible workspace; multilayer garage; OPTIMAL-DESIGN; MANIPULATOR; OPTIMIZATION;
D O I
10.1177/1687814018791712
中图分类号
O414.1 [热力学];
学科分类号
摘要
In this article, our recent work on a kind of 2-degree-of-freedom lower-mobility parallel mechanism, which has one rotation degree of freedom and one translational degree of freedom, used in multilayer garage is presented. It has the following characteristics: lower-mobility, non-symmetric structure but can realize symmetric movement and a good compatibility for different kinds of lifting work. Kinematic performance should be considered in the first of designing a new kind of mechanism, the optimal kinematic design and analysis of this lower-mobility parallel mechanism are primarily investigated. In process of study, the global conditioning index over workspace is adopted, we establish a new evaluation method for the lower-mobility parallel mechanism, called global symmetry index and simulation results are shown. In addition, the flexible workspace of this lower-mobility parallel mechanism is also proposed. The evaluation index can be also applied on other lower-mobility parallel mechanism, which needs steady and symmetric movement.
引用
收藏
页数:12
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