Chinese Journal of Mechanical Engineering >

2019 , Vol. 32 >Issue 5: 89 - 89

DOI: https://doi.org/10.1186/s10033-019-0403-1

Mechanism and Robotics

Type Synthesis of 1T2R Parallel Mechanisms Using Structure Coupling-Reducing Method

  • Haitao Liu ,
  • Ke Xu ,
  • Huiping Shen ,
  • Xianlei Shan ,
  • Tingli Yang
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  • 1. Key Laboratory of Mechanism Theory and Equipment Design, Ministry of Education, Tianjin University, Tianjin 300350, China;
    2. School of Mechanical Engineering, Changzhou University, Changzhou 213164, China

收稿日期: 2019-01-17

  修回日期: 2019-09-05

  网络出版日期: 2019-12-25

基金资助

Supported by National Key R & D program of China (Grant No. 2017YFB1301800), National Natural Science Foundation of China (Grant No. 51622508), and National Defense Basic Scientifc Research program of China (Grant No. JCKY2017203B066)

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Type Synthesis of 1T2R Parallel Mechanisms Using Structure Coupling-Reducing Method

  • Haitao Liu ,
  • Ke Xu ,
  • Huiping Shen ,
  • Xianlei Shan ,
  • Tingli Yang
Expand
  • 1. Key Laboratory of Mechanism Theory and Equipment Design, Ministry of Education, Tianjin University, Tianjin 300350, China;
    2. School of Mechanical Engineering, Changzhou University, Changzhou 213164, China

Received date: 2019-01-17

  Revised date: 2019-09-05

  Online published: 2019-12-25

Supported by

Supported by National Key R & D program of China (Grant No. 2017YFB1301800), National Natural Science Foundation of China (Grant No. 51622508), and National Defense Basic Scientifc Research program of China (Grant No. JCKY2017203B066)

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摘要

Direct kinematics with analytic solutions is critical to the real-time control of parallel mechanisms. Therefore, the type synthesis of a mechanism having explicit form of forward kinematics has become a topic of interest. Based on this purpose, this paper deals with the type synthesis of 1T2R parallel mechanisms by investigating the topological structure coupling-reducing of the 3UPS&UP parallel mechanism. With the aid of the theory of mechanism topology, the analysis of the topological characteristics of the 3UPS&UP parallel mechanism is presented, which shows that there are highly coupled motions and constraints amongst the limbs of the mechanism. Three methods for structure coupling-reducing of the 3UPS&UP parallel mechanism are proposed, resulting in eight new types of 1T2R parallel mechanisms with one or zero coupling degree. One obtained parallel mechanism is taken as an example to demonstrate that a mechanism with zero coupling degree has an explicit form for forward kinematics. The process of type synthesis is in the order of permutation and combination; therefore, there are no omissions. This method is also applicable to other confgurations, and novel topological structures having simple forward kinematics can be obtained from an original mechanism via this method.

关键词： Type synthesis; Structure coupling-reducing; Coupling degree; Parallel mechanism

本文引用格式

Haitao Liu , Ke Xu , Huiping Shen , Xianlei Shan , Tingli Yang . Type Synthesis of 1T2R Parallel Mechanisms Using Structure Coupling-Reducing Method[J]. Chinese Journal of Mechanical Engineering, 2019 , 32(5) : 89 -89 . DOI: 10.1186/s10033-019-0403-1

Abstract

Direct kinematics with analytic solutions is critical to the real-time control of parallel mechanisms. Therefore, the type synthesis of a mechanism having explicit form of forward kinematics has become a topic of interest. Based on this purpose, this paper deals with the type synthesis of 1T2R parallel mechanisms by investigating the topological structure coupling-reducing of the 3UPS&UP parallel mechanism. With the aid of the theory of mechanism topology, the analysis of the topological characteristics of the 3UPS&UP parallel mechanism is presented, which shows that there are highly coupled motions and constraints amongst the limbs of the mechanism. Three methods for structure coupling-reducing of the 3UPS&UP parallel mechanism are proposed, resulting in eight new types of 1T2R parallel mechanisms with one or zero coupling degree. One obtained parallel mechanism is taken as an example to demonstrate that a mechanism with zero coupling degree has an explicit form for forward kinematics. The process of type synthesis is in the order of permutation and combination; therefore, there are no omissions. This method is also applicable to other confgurations, and novel topological structures having simple forward kinematics can be obtained from an original mechanism via this method.

Key words： Type synthesis; Structure coupling-reducing; Coupling degree; Parallel mechanism

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