A Translational Three-Degrees-of-Freedom Parallel Mechanism With Partial Motion Decoupling and Analytic Direct Kinematics

Abstract

According to the topological design theory and method of parallel mechanism (PM) based on position and orientation characteristic (POC) equations, this paper studied a 3-DOF translational PM that has three advantages, i.e., (i) it consists of three fixed actuated prismatic joints, (ii) the PM has analytic solutions to the direct and inverse kinematic problems, and (iii) the PM is of partial motion decoupling property. Firstly, the main topological characteristics, such as the POC, degree of freedom and coupling degree were calculated for kinematic modeling. Thanks to these properties, the direct and inverse kinematic problems can be readily solved. Further, the conditions of the singular configurations of the PM were analyzed which corresponds to its partial motion decoupling property. 0 J J J

Kinematic design of a translational parallel mechanism based on sub-kinematic chain determined workspace superposition

“…It is known from Section ‘Analysis of coupling degree’ that the mechanism is composed of two SKC 1 and SKC 2 with zero constraint degree. With the method to solve the forward position problem 41 based on the topological characteristics, 42 displacement analysis is carried out along with the two independent SKCs.…”

“…By means of the Gröbner-based elimination method, 41,45 the serial and parallel singular loci of SKC 2 can be identified with Maple™, which are displayed in Figure 15. It can be observed that the serial singularity loci forms a closed volume in the shape of cylinder, and the parallel singularity loci are located inside.…”

A New 3T Parallel Mechanism: Topological Design, Analysis and Symbolic Position Solutions

“…According to the kinematic modeling principle and method based on topological characteristics [6], [9] proposed by the author, the symbolic FPS of this PM can be performed below.…”

Kinematics of Articulated Planar Linkages

“…To understand the kinematic performance of a linkage, many scholars have been proposing different theories (McCarthy, 1990;Duffy, 1996;Davidson and Hunt, 2004;Dai, 2014;Zhao et al, 2016;Amiri and Mazaheri, 2020;Faghidian and Mohammad-Sedighi, 2020), methods (Angeles, 1982;Kong et al, 2018;Yang et al, 2018;Kong et al, 2019;Shen et al, 2020), algorithms (García de Jalón and Bayo, 1994;Kong et al, 2016;Saura et al, 2019) and software (Brát and Lederer, 1973;García de Jalón and Bayo, 1994;Wu et al, 2009;Wu et al, 2017). This paper focuses on an algorithm in the screw coordinates to solve the velocity of articulated planar linkage and investigates the displacement and acceleration.…”