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Kinematics and inverse dynamics analysis for a novel 3-PUU parallel mechanism

Published online by Cambridge University Press:  24 November 2016

Wang Liping ,
Xu Huayang  and
Guan Liwen
Wang Liping
Affiliation:
Department of Mechanical Engineering, Tsinghua University, Beijing 100084, China
Xu Huayang
Affiliation:
Department of Mechanical Engineering, Tsinghua University, Beijing 100084, China
Guan Liwen*
Affiliation:
Department of Mechanical Engineering, Tsinghua University, Beijing 100084, China
*
*Corresponding author. E-mail: guanlw@mail.tsinghua.edu.cn
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Summary

The modules of parallel tool heads with 2R1T degrees of freedom (DOFs), i.e., two rotational DOFs and one translational DOF, have become so important in the field of machine tools that corresponding research studies have attracted extensive attention from both academia and industry. A 3-PUU (P represents a prismatic joint, U represents a universal joint) parallel mechanism with 2R1T DOFs is proposed in this paper, and a detailed discussion about its architecture, geometrical constraints, and mobility characteristics is presented. Furthermore, on the basis of its special geometrical constraint, we derive and explicitly express the parasitic motion of the 3-PUU mechanism. Then, the inverse kinematics problem, the Jacobian matrix calculation and the forward kinematics problem are also investigated. Finally, with a simplified dynamics model, the inverse dynamics analysis for the mechanism is carried out with the Principle of Virtual Work, and corresponding results are compared with that of the 3-PRS mechanism. The above analyses illustrate that the 3-PUU parallel mechanism has good dynamics features, which validates the feasibility of applying this mechanism as a tool head module.

Keywords

Parallel mechanism3-PUU2R1T DOFskinematics analysisdynamics analysis
Type
Articles
Information
Robotica , Volume 35 , Issue 10 , October 2017 , pp. 2018 - 2035
Copyright
Copyright © Cambridge University Press 2016 

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