Type Synthesis and Dynamics Performance Evaluation of a Class of 5-DOF Redundantly Actuated Parallel Mechanisms

被引:0
作者
Bing-Shan Jiang
Hai-Rong Fang
Hai-Qiang Zhang
机构
[1] Beijing Jiaotong University,School of Mechanical, Electronic and Control Engineering
来源
International Journal of Automation and Computing | 2021年 / 18卷
关键词
Type synthesis; redundantly actuated parallel mechanism (PM); lie group theory; configuration evolution; dynamics performance evaluation;
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中图分类号
学科分类号
摘要
This paper presents a five degree of freedom (5-DOF) redundantly actuated parallel mechanism (PM) for the parallel machining head of a machine tool. A 5-DOF single kinematic chain is evolved into a secondary kinematic chain based on Lie group theory and a configuration evolution method. The evolutional chain and four 6-DOF kinematic chain SPS (S represents spherical joint and P represents prismatic joint) or UPS (U represents universal joint) can be combined into four classes of 5-DOF redundantly actuated parallel mechanisms. That SPS-(2UPR)R (R represents revolute joint) redundantly actuated parallel mechanism is selected and is applied to the parallel machining head of the machine tool. All formulas of the 4SPS-(2UPR)R mechanism are deduced. The dynamic model of the mechanism is shown to be correct by Matlab and automatic dynamic analysis of mechanical systems (ADAMS) under no-load conditions. The dynamic performance evaluation indexes including energy transmission efficiency and acceleration performance evaluation are analyzed. The results show that the 4SPS-(2UPR)R mechanism can be applied to a parallel machining head and have good dynamic performance.
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页码:96 / 109
页数:13
相关论文
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