Abstract
AbstractThe authors‘ previous research has demonstrated that parallel mechanisms (PMs) with hybrid branch chains (i.e., branch chains containing planar or spatial loops) can possess symbolic forward position (SFP) solutions and motion decoupling (MD). In order to further study the conditions of a three-chain six degrees of freedom (DOF) parallel mechanism with SFP and MD, this paper proposes one 6-DOF branch chain A and two 5-DOF branch chains B and C. Based on these, a class of four 6-DOF PMs with three branch chains is devised. The symbolic position analysis of three of four such PMs is performed consequently, featuring partial MD and SFPs, which reveals that if the position or orientation of a point on the moving platform can be determined by the position of the hybrid branch chain, the PM exhibits partial MD and SFP. Finally, the accuracy of the symbolized forward and inverse solution algorithms is verified through numerical examples. This research brings a new insight into the design and position analysis of 6-DOF PMs, particularly those with SFP and partial MD.
Publisher
Cambridge University Press (CUP)
Reference30 articles.
1. [20] Lin, W. , Duffy, J. and Griffs, M. , “Forward Displacement Analyses of the 4-4 Stewart Platforms,” In: Proceedings of the 21st Biennial Mechanism Conference. September 16-19, Gainesville, United States. New York (Univ. of Florida, ASME, 1990) pp. 263–269.
2. Position analysis of 3-urSR parallel mechanism with 6-DOF;Yu;Trans Chinese Society Agri Mach,2011
3. [6] Lin, W. , Crane, C. D. and Duffy, J. , “Closed-Form Forward Displacement Analysis of the 4-5 in-Parallel Platform,” In: Proceedings of the 22nd Biennial Mechanisms Conference, Scottsdale, AZ, USA. Scottsdale (ASME, 1992) pp. 521–527.
4. Forward position analysis of a 6-DOF 3-urPS parallel mechanism;Gao;China Mech Eng,2007
5. A constructive predictor-corrector algorithm for the direct position kinematics problem for a general 6-6 stewart platform;Dasgupta;Mech Mach Theory,1996