Investigation of a novel 2R1T parallel mechanism and construction of its variants

Liu, Jingfang; Fan, X.H.; Ding, Huafeng

doi:10.1017/s026357472000154x

Cited by 6 publications

(2 citation statements)

References 29 publications

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“…have respectively developed and verified a new type of foot and ankle bionic dynamics simulator. It is a movable 6-DOF parallel mechanism, URR parallel mechanism and 2R1T branch chain [25][26][27][28].Dong M. developed a 2-UPS parallel mechanism whose movement in two directions is driven by two linear motors. It can perform rehabilitation training in dorsiflexion/plantarflexion and varus/valgus directions, calibrate the control accuracy of the kinematic model and derive the inverse solution of the position [29].Wang H. proposed a four-degree-of-freedom lower limb rehabilitation robot, which analyzed the human-machine hybrid kinematics model according to the Denavit-Hartenberg (D-H) method, and explored the user-based variable human-machine workspace.…”

Section: Related Workmentioning

confidence: 99%

Research on 4-UPUS Parallel Mechanism Ankle Joint Rehabilitation Training Robot

Hu¹,

Yin²,

He³

et al. 2022

Preprint

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In-depth research on the rehabilitation mechanism and motion characteristics of a rehabilitation training robot based on 4-UPUS parallel mechanism. The overall design and the working principle of each key component are explained, and the robot rehabilitation scheme is described. The static analysis and modal analysis of the robot bearing structure are carried out to verify whether the static mechanical characteristics of the mechanism meet the application requirements under working conditions.A simplified mathematical model of the six-bar linkage mechanism is established, and the kinematics of the mechanism is solved by the geometric analysis method. The motion characteristic diagram of each key point is obtained through simulation calculation. Establish the motion model of the parallel mechanism, and discuss the working space and motion performance analysis of the mechanism. The forward solution analysis of the mechanism position is carried out by using the numerical analysis method, and the three-dimensional graphics of the attitude angle and linear displacement of the reachable working space are obtained.Taking the UPUS single branch chain as the analysis object, the single open chain analysis method is used to solve the kinematics image of the corresponding surface in the working space of the mechanism, which verifies the correctness of the kinematics theoretical solution and the feasibility of simulation.The research results show that the 4-UPUS parallel mechanism rehabilitation training robot can cooperate with the ankle joint for rehabilitation training. It makes up for the single movement of the current lower limb rehabilitation robot and the unsatisfactory rehabilitation effect, and provides a reference for the practical application of the subsequent ankle joint rehabilitation robot system.

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Section: Related Workmentioning

confidence: 99%

Research on 4-UPUS Parallel Mechanism Ankle Joint Rehabilitation Training Robot

Hu¹,

Yin²,

He³

et al. 2022

Preprint

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show abstract

“…Many recent researches have concentrated on PU-and P * U * -equivalent PMs. For PU-equivalent PMs, Fan et al [26] presented a type synthesis method based on the integration of configuration evolution and Lie group theory, and obtained many PU-equivalent PMs like PU-PRC-UPS; Song et al [27] proposed an analytical method based on conformal geometrical algebra to synthesize 2R1T and 1T2R PMs, and obtained some novel PU-equivalent PMs like 2RPUR-RPU; Xu et al [28] synthesized the 2R1T PMs with two continuous rotational axes according to four spatial arrangements cases of constraint forces, and obtained several PU-equivalent PMs such as PU-RPU-UPS; Liu et al [29] presented a novel 3-RRPRR 2R1T PM without parasitic motion and developed its variants, but two rotational axes are on the middle plane, which means that they cannot be categorized as PU-equivalent PMs. For P * U * -equivalent PMs, to describe the finite motion algebraically and perform systematically type synthesis are extremely difficult, and most novel P * U * -equivalent PMs are inspired by the typical 3-RPS PM [17][18][19] or designed by rule of thumb [30][31][32].…”

Section: Introductionmentioning

confidence: 99%

Constraint characteristics and type synthesis of two families of 1T2R parallel mechanism

Meng

et al. 2022

Robotica

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PU- and P*U*-equivalent parallel mechanisms (PMs) are critical families of PMs with one translational and two rotational (1T2R) degree of freedoms and have always been a research hotspot among lower mobility PMs. However, researches on these two families of PMs remain to be inadequate, and existing types are few and uncomprehensive. In this study, first, general wrench systems of PU-equivalent are derived based on virtual-chain approach and screw theory, revealing its constraint characteristics under general configuration. Cause of one parasitic motion is put forward and general wrench systems of P*U*-equivalent PMs with one parasitic motion are obtained. In addition, constraint analysis has been carried out to figure out constraint characteristics of P*U*-equivalent PMs with three parasitic motions. Second, branch chains are divided by generating constraints, and their structures are synthesized based on the presented rules. Then, the process for type synthesis of PU-equivalent PMs and P*U*-equivalent PMs and a series of novel 1T2R PMs are attained based on this. Finally, a novel PU-equivalent PM, 2PRU-PRUPc, and a novel P*U*-equivalent PM with one parasitic motion, 2PRU-PUU PM, are analyzed, demonstrating the effectiveness of the proposed type synthesis method.

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Kinematic Analysis and Optimization of a New 2R1T Redundantly Actuated Parallel Manipulator with Two Moving Platforms

Chai

Lin

et al. 2022

Intelligent Robotics and Applications

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Investigation of a novel 2R1T parallel mechanism and construction of its variants

Cited by 6 publications

References 29 publications

Research on 4-UPUS Parallel Mechanism Ankle Joint Rehabilitation Training Robot

Research on 4-UPUS Parallel Mechanism Ankle Joint Rehabilitation Training Robot

Constraint characteristics and type synthesis of two families of 1T2R parallel mechanism

Kinematic Analysis and Optimization of a New 2R1T Redundantly Actuated Parallel Manipulator with Two Moving Platforms

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