Design of a New Family of Kinematically Redundant Parallel Mechanisms With Two Rotations and One Translation-Reference-Cited by-同舟云学术

Design of a New Family of Kinematically Redundant Parallel Mechanisms With Two Rotations and One Translation

Published:2023-02-10 Issue:5 Volume:145 Page:
ISSN:1050-0472
Container-title:Journal of Mechanical Design
language:en
Short-container-title:

Author:

Wu Zhen¹²,Li Qinchuan³,Ye Wei³

Affiliation:

1. Zhejiang Sci-Tech University School of Mechanical Engineering, , Hangzhou 310018 , China;

2. Zhejiang Institute of Communications Department of Navigation, , Hangzhou 311112 , China

3. Zhejiang Sci-Tech University School of Mechanical Engineering, , Hangzhou 310018 , China

Abstract

Abstract This article presents a new family of kinematically redundant parallel mechanisms (KR-PMs) with two rotations and one translation (2R1T) based on the Lie group method. Compared with the 2-UPR/RPU PM, these PMs have two main advantages, namely, larger reachable workspaces of the moving platforms and higher motion/force transmission performance, as verified by three typical cases. The inverse kinematics, velocities, singularities, and workspaces of the 2-UPR/PRPU PM are analyzed in detail. A new method for motion/force transmission performance evaluation of KR-PMs in accordance with the indices for nonredundant PMs is proposed. Moreover, the local and global motion/force transmission performances of the 2-UPR/PRPU PM are determined using the new method.

Publisher

ASME International

Subject

Computer Graphics and Computer-Aided Design,Computer Science Applications,Mechanical Engineering,Mechanics of Materials

Link

https://asmedigitalcollection.asme.org/mechanicaldesign/article-pdf/145/5/053303/6980236/md_145_5_053303.pdf

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