Chinese Journal of Mechanical Engineering >

2018 , Vol. 31 >Issue 1: 12 - 12

DOI: https://doi.org/10.1186/s10033-018-0201-1

Mechanism and Robotics

New Family of 3-DOF UP-Equivalent Parallel Mechanisms with High Rotational Capability

  • Wei Ye ,
  • Qin-Chuan Li ,
  • Xin-Xue Chai
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  • Faculty of Mechanical Engineering and Automation, Zhejiang Sci-Tech University, Hangzhou 310018, China

Received date: 2017-01-18

  Online published: 2019-07-23

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Abstract

Parallel mechanisms (PMs) having the same motion characteristic with a UP kinematic chain (U denotes a universal joint, and P denotes a prismatic joint) are called UP-equivalent PMs. They can be used in many applications, such as machining and milling. However, the existing UP-equivalent PMs sufer from the disadvantages of strict assembly requirements and limited rotational capability. Type synthesis of UP-equivalent PMs with high rotational capability is presented. The special 2R1T motion is briefy discussed and the fact that the parallel module of the Exechon robot is not a UP-equivalent PM is disclosed. Using the Lie group theory, the kinematic bonds of limb chains and their mechanical generators are presented. Structural conditions for constructing such UP-equivalent PMs are proposed, which results in numerous new architectures of UP-equivalent PMs. The high rotational capability of the synthesized mechanisms is illustrated by an example. The advantages of no strict assembly requirements and high rotational capability of the newly developed PMs will facilitate their applications in the manufacturing industry.

Key words： Parallel mechanism; Group theory; Type synthesis; High rotational capability

Cite this article

Wei Ye , Qin-Chuan Li , Xin-Xue Chai . New Family of 3-DOF UP-Equivalent Parallel Mechanisms with High Rotational Capability[J]. Chinese Journal of Mechanical Engineering, 2018 , 31(1) : 12 -12 . DOI: 10.1186/s10033-018-0201-1

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