Author:
Wang Congzhe,Fang Yuefa,Fang Hairong
Abstract
SUMMARYLarge rotational angles about two axes for parallel mechanisms (PMs) with two rotational and three translational (2R3T) degrees of freedom (DOFs) or two rotational and two translational (2R2T) DOFs are demanded in some industries, such as parallel machine tools and multi-axis 3D printing. To address the problem, this paper focuses on the structural synthesis of new 2R3T and 2R2T PMs with high rotational capability. First, two new moving platforms are proposed based on the concepts of decoupled and configurable design. By means of the proposed platforms and Lie group theory, a series of 2R2T and 2R3T PMs are synthesized. Then the inverse kinematics and velocity relationship of one of the synthesized 2R3T PMs are presented. Finally, the rotational capability of the same 2R3T PM is analyzed. The result shows that by means of actuation redundancy, the studied 2R3T PM indeed possesses the high rotational capability about two axes, even though interferences and singularities are taken into consideration.
Publisher
Cambridge University Press (CUP)
Subject
Computer Science Applications,General Mathematics,Software,Control and Systems Engineering
Reference36 articles.
1. Type synthesis of parallel mechanisms having the second class GF sets and two dimensional rotations;Gao;ASME J. Mech. Robot.,2010
2. J. M. Hervé and F. Sparacino , “Structural Synthesis of Parallel Robots Generating Spatial translation,” Proc. 5th Int. Conf. Advanced Robotics, Pise, Italy, Vol. 1, (1991) pp. 808–813.
3. Forward kinematic problem of 5-RPUR parallel mechanisms (3T2R) with identical limb structures
4. Kinematic analysis and optimal design of a novel 1T3R parallel manipulator with an articulated travelling plate
5. Q. Li and Z. Huang , “Type synthesis of 4-DOF parallel manipulators,” Robotics and Automation, 2003. Proceedings. ICRA'03. IEEE International Conference on, Taipei, Taiwan, Vol. 1, pp. 755–760 (2003).
Cited by
17 articles.
订阅此论文施引文献
订阅此论文施引文献,注册后可以免费订阅5篇论文的施引文献,订阅后可以查看论文全部施引文献