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Type synthesis of a new parallel mechanism with complete separation of constraints and drives

Published online by Cambridge University Press:  18 September 2024

Yu Wang ,
Can Qiu ,
Xiaoyu He ,
Jiabin Wu ,
Yundou Xu Open the ORCID record for Yundou Xu [Opens in a new window]  and
Yongsheng Zhao
Yu Wang
Affiliation:
Parallel Robot and Mechatronic System Laboratory of Hebei Province, Yanshan University, Qinhuangdao, China
Can Qiu
Affiliation:
Parallel Robot and Mechatronic System Laboratory of Hebei Province, Yanshan University, Qinhuangdao, China
Xiaoyu He
Affiliation:
Parallel Robot and Mechatronic System Laboratory of Hebei Province, Yanshan University, Qinhuangdao, China
Jiabin Wu
Affiliation:
Parallel Robot and Mechatronic System Laboratory of Hebei Province, Yanshan University, Qinhuangdao, China
Yundou Xu*
Affiliation:
Parallel Robot and Mechatronic System Laboratory of Hebei Province, Yanshan University, Qinhuangdao, China Key Laboratory of Advanced Forging and Stamping Technology and Science of Ministry of National Education, Yanshan University, Qinhuangdao, China Hebei Provincial National Defense Key Discipline Laboratory of General Technology on Military Basic Electromechanical Products, Yanshan University, Qinhuangdao, China
Yongsheng Zhao
Affiliation:
Parallel Robot and Mechatronic System Laboratory of Hebei Province, Yanshan University, Qinhuangdao, China Key Laboratory of Advanced Forging and Stamping Technology and Science of Ministry of National Education, Yanshan University, Qinhuangdao, China Hebei Provincial National Defense Key Discipline Laboratory of General Technology on Military Basic Electromechanical Products, Yanshan University, Qinhuangdao, China
*
Corresponding author: Yundou Xu; Email: ydxu@ysu.edu.cn
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Abstract

Currently, there is an increasing demand for parallel mechanisms with fewer inputs and more outputs in aerospace, antennas, and recreational facilities. Therefore, this paper proposes a new parallel mechanism (PM) with a separation of constraints and drives, facilitating centralized drive management. Based on screw theory, the type synthesis of new parallel mechanisms with 3T (T representing translation), 3R (R representing revolute), 2T1R, and 2R1T is proposed. Three-degree-of-freedom (3-DOF) parallel mechanisms with fewer inputs and multiple outputs are proposed. Taking the 3RPS-PPPS parallel mechanism as an example, the closed-loop vector method is employed to solve for the lengths of actuated branches. A complete Jacobi matrix is constructed. The motion/force transmission performance of the 3RRS/PPPS parallel mechanism is better than the 3RRS parallel mechanism. Centralized management of drive branches greatly reduces the number of drives, making maintenance and repair easier. It has many application scenarios in antennas, recreational facilities, and other occasions.

Keywords

parallel mechanismfewer inputs and multiple outputstype synthesismotion/force transmission performance

Information

Type
Research Article
Information
Robotica , Volume 42 , Issue 9 , September 2024 , pp. 3174 - 3189
Copyright
© The Author(s), 2024. Published by Cambridge University Press

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