Kinematic Performance and Static Analysis of a Two-Degree-of-Freedom 3-RPS/US Parallel Manipulator With Two Passive Limbs-Reference-Cited by-同舟云学术

Kinematic Performance and Static Analysis of a Two-Degree-of-Freedom 3-RPS/US Parallel Manipulator With Two Passive Limbs

Published:2022-06-23 Issue:2 Volume:15 Page:
ISSN:1942-4302
Container-title:Journal of Mechanisms and Robotics
language:en
Short-container-title:

Author:

Li Xiao¹,Qu Haibo²³,Guo Sheng²³

Affiliation:

1. Robotics Research Center, School of Mechanical, Electronic and Control Engineering, Beijing Jiaotong University , Beijing 100044 , China

2. Robotics Research Center, School of Mechanical, Electronic and Control Engineering ; Key Laboratory of Vehicle Advanced Manufacturing, Measuring and Control Technology, Ministry of Education, , Beijing 100044 , China

3. Beijing Jiaotong University ; Key Laboratory of Vehicle Advanced Manufacturing, Measuring and Control Technology, Ministry of Education, , Beijing 100044 , China

Abstract

Abstract In this paper, a new 3-RPS (the limb consisting of one revolute, one prismatic, and one spherical joint)/US (universal joint and spherical joint) parallel mechanism with two degrees-of-freedom (DOFs) is obtained by adding a US passive limb into the 3-RPS parallel mechanism with the aim of obtaining a high load-bearing capacity. The moving platform possesses two rotational motions, analyzed by the Grassmann line geometry and screw theory. Then, the kinematic performance of the mechanism is analyzed, including inverse kinematics, overall Jacobian matrix, workspace, and singularity. On this basis, the mapping between the driving force and the load on the moving platform is deduced and verified by simulation. Next, the static of the proposed parallel mechanism is compared with that of the 3-RPS mechanism. The results show that the load-bearing capacity of the mechanism is improved by introducing the US passive limb. Finally, a case study verifies the potential application of the mechanism as a dual-axis tracking photovoltaic bracket.

Funder

National Natural Science Foundation of China

Publisher

ASME International

Subject

Mechanical Engineering

Link

https://asmedigitalcollection.asme.org/mechanismsrobotics/article-pdf/15/2/021014/6890994/jmr_15_2_021014.pdf

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