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
相关论文
共 50 条
[41]   Analytical optimization of inerter-based dynamic vibration absorbers with negative stiffness (INDVAs) using a reduced 2-degree-of-freedom (2DOF) model [J].
Zhao, Weiwei ;
Quan, Yong .
STRUCTURES, 2024, 65
[42]   Kinematic Calibration of a 4PPa-2PaR Parallel Mechanism With Subchains on Limbs [J].
Luo, Jingbo ;
Chen, Silu ;
Fan, Xiaonan ;
Xiong, Ciyuan ;
Zheng, Tianjiang ;
Zhang, Chi ;
Yang, Guilin .
IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT, 2022, 71
[43]   Study on Calibration of 3-PR(4R)R Three-Degree-of-Freedom Parallel Mechanism [J].
Feng, Haibing ;
Yan, Jiaqing ;
Jin, Zhenlin ;
Chen, Ziming .
IEEE ACCESS, 2022, 10 :39397-39406
[44]   A novel kinematic modeling method for (1+n) type parallel mechanism: applied to obtain the position and posture space simultaneously [J].
He, Yufan ;
Fang, Hairong ;
Jin, Zhengxian ;
Zhang, Chong .
ROBOTICA, 2024, 42 (10) :3281-3301
[45]   Comparison Study of 2-DOF Parallel Mechanisms: Workspace Optimization and Kinematic Performance [J].
Nam, Yun-Joo ;
Lee, Yuk-Hyung ;
Park, Myeong-Kwan .
TRANSACTIONS OF THE KOREAN SOCIETY OF MECHANICAL ENGINEERS A, 2006, 30 (12) :1564-1572
[46]   Kinematic Optimal Design of a 2-DoF Parallel Positioning Mechanism Employing Geometric Algebra [J].
Xinming Huo ;
Panfeng Wang ;
Wanzhen Li .
Advances in Applied Clifford Algebras, 2018, 28
[47]   Elastodynamic performance of a spatial redundantly actuated parallel mechanism constrained by two point-contact higher kinematic pairs via a model reduction technique [J].
Cheng, Chen ;
Liu, Bin ;
Li, Yenan ;
Liu, Zhen ;
Yang, Song ;
Wang, Yanchao .
MECHANISM AND MACHINE THEORY, 2022, 167
[48]   Design, evaluation, and optimization of a novel 3UPU-S parallel mechanism with three rotational degrees of freedom [J].
Lu, Shiqing ;
Xie, Yiqing ;
Jin, Hui ;
Huang, Xia ;
Wang, Yujin ;
Ding, Jun .
JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY, 2025, 39 (02) :913-924
[49]   Kinematic performance evaluation of high-speed Delta parallel robots based on motion/force transmission indices [J].
Brinker, J. ;
Corves, B. ;
Takeda, Y. .
MECHANISM AND MACHINE THEORY, 2018, 125 :111-125
[50]   Kinematic Analysis and Performance Evaluation of the 3-PUU Parallel Module of a 3D Printing Manipulator [J].
Lu, Song ;
Li, Yangmin .
2014 13TH INTERNATIONAL CONFERENCE ON CONTROL AUTOMATION ROBOTICS & VISION (ICARCV), 2014, :1847-1852