Xiaofei Liu, Bo Wan, Yu Liu, Ran Chen, Jiantao Yao, Yongsheng Zhao
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Kinematic Performance Analysis and Dimensional Optimization of New Symmetric Parallel Mechanism 6RPS with Multi-Redundant Actuations
Abstract A new symmetric parallel mechanism 6RPS with multi-redundant actuations is proposed in this paper, which possesses two rotational and one translational degrees of freedom. Motion and constraint screw systems of this mechanism are established and then character of the freedom is analyzed. Transmission performance indexes are established, and dimension optimization is operated by considering the distribution of transmission performance. Whole quality posture space and performance distribution are analyzed with optimal dimension. Motion interference condition of the mechanism is studied, and accessible posture space are analyzed by combining joint space restriction. A comprehensive performance comparison with a counterpart configuration is exhibited. Research results of this paper are of reference significance for both the research of parallel mechanism with two rotational and one translational degrees of freedom, and the application of mechanism 6RPS.
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.
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