Configuration Synthesis Method of Multi-Mode Parallel Mechanism Based on Variable Mobility Branch

IF 2.2 4区计算机科学 Q2 ENGINEERING, MECHANICAL Journal of Mechanisms and Robotics-Transactions of the Asme Pub Date : 2023-07-18 DOI:10.1115/1.4062986

Xueyuan Gao, Fujuan Li, Xueyan Han, Xinwang Liu, Shihua Li

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Abstract

In order to obtain more configurations of multi-mode parallel mechanism with the expected motion modes, a new configuration synthesis method of multi-mode parallel mechanism is proposed in this paper. The generation principle of parallel mechanism with multiple motion modes is analyzed. The relation between the motion of moving platform and the motion of branch is obtained. The finite motion and instantaneous motion of existing variable mobility branches are analyzed, and variable mobility branches are decomposed into variable mobility generators. By using variable mobility generators to construct variable mobility branches, a configuration synthesis method of multi-mode parallel mechanism based on variable mobility branch is proposed. Taking the multi-mode parallel mechanism with 2T1R and 2R1T motion modes as an example, a new class of multi-mode parallel mechanisms are obtained. The proposed method enriches the configuration synthesis theory of multi-mode parallel mechanism and the synthesis results enrich the configurations of multi-mode parallel mechanism.

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基于变迁移率分支的多模并联机构构型综合方法

为了获得具有期望运动模式的多模式并联机构的更多构型，本文提出了一种新的多模式平行机构构型综合方法。分析了多运动模式并联机构的产生原理。得到了移动平台运动与树枝运动之间的关系。分析了现有可变迁移率分支的有限运动和瞬时运动，并将可变迁移率支路分解为可变迁移率生成器。利用可变迁移率生成器构造可变迁移率支路，提出了一种基于可变迁移率分支的多模并联机构构型综合方法。以具有2T1R和2R1T运动模式的多模式并联机构为例，得到了一类新的多模式并行机构。该方法丰富了多模并联机构的构型综合理论，综合结果丰富了多模平行机构的构型。

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来源期刊

Journal of Mechanisms and Robotics-Transactions of the Asme ENGINEERING, MECHANICAL-ROBOTICS

CiteScore

5.60

自引率

15.40%

发文量

131

审稿时长

4.5 months

期刊介绍： Fundamental theory, algorithms, design, manufacture, and experimental validation for mechanisms and robots; Theoretical and applied kinematics; Mechanism synthesis and design; Analysis and design of robot manipulators, hands and legs, soft robotics, compliant mechanisms, origami and folded robots, printed robots, and haptic devices; Novel fabrication; Actuation and control techniques for mechanisms and robotics; Bio-inspired approaches to mechanism and robot design; Mechanics and design of micro- and nano-scale devices.