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

IF 1.9 4区 计算机科学 Q3 ROBOTICS Robotica Pub Date : 2024-09-18 DOI:10.1017/s0263574724001346
Yu Wang, Can Qiu, Xiaoyu He, Jiabin Wu, Yundou Xu, Yongsheng Zhao
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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.
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完全分离约束和驱动的新型并行机制的类型合成
目前,航空航天、天线和娱乐设施等领域对投入少、产出多的并联机构的需求日益增长。因此,本文提出了一种约束与驱动分离的新型并联机构(PM),便于对驱动进行集中管理。基于螺杆理论,提出了 3T(T 代表平移)、3R(R 代表反转)、2T1R 和 2R1T 新型并联机构的类型合成。提出了少输入多输出的三自由度(3-DOF)并联机构。以 3RPS-PPPS 并联机构为例,采用闭环矢量法求解驱动分支的长度。构建了一个完整的雅可比矩阵。3RRS/PPPS 并联机构的运动/力传递性能优于 3RRS 并联机构。对驱动分支的集中管理大大减少了驱动的数量,使维护和维修变得更加容易。它在天线、娱乐设施和其他场合有很多应用场景。
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来源期刊
Robotica
Robotica 工程技术-机器人学
CiteScore
4.50
自引率
22.20%
发文量
181
审稿时长
9.9 months
期刊介绍: Robotica is a forum for the multidisciplinary subject of robotics and encourages developments, applications and research in this important field of automation and robotics with regard to industry, health, education and economic and social aspects of relevance. Coverage includes activities in hostile environments, applications in the service and manufacturing industries, biological robotics, dynamics and kinematics involved in robot design and uses, on-line robots, robot task planning, rehabilitation robotics, sensory perception, software in the widest sense, particularly in respect of programming languages and links with CAD/CAM systems, telerobotics and various other areas. In addition, interest is focused on various Artificial Intelligence topics of theoretical and practical interest.
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