Kinematic analysis and optimal design of a novel parallel pointing mechanism

Sun, Jing; Shao, Lei; Fu, Lifei; Han, Xueyan; Li, Shihua

doi:10.1016/j.ast.2020.105931

Cited by 12 publications

(7 citation statements)

References 28 publications

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“…The sum of the dimension of the freedom space and the constraint space of the moving platform is 6, and the dimension of the actuation space is equal to the dimension of the freedom space. Therefore, the sum of the dimension of the actuation space and the constraint space is 6 [10]. It can be concluded that the actuation space is always linearly independent of its constraint space for the lower-mobility PMs without redundant actuation, when the mechanisms have definite motion.…”

Section: Criterion For Synthesizing Actuation Spacementioning

confidence: 97%

“…The configuration synthesis [7][8][9][10][11] of lower-mobility parallel mechanisms is regarded as an effective tool to find multiple solutions in the conceptual design phase of PMs, a series of systematic approaches for achieving a comprehensive type synthesis have been proposed, and a large variety of PMs generating a specified motion pattern have been developed. On this basis, Yu et al [12] presented a unified approach for synthesizing both rigid and flexure parallel mechanisms in the framework of screw theory.…”

Section: Introductionmentioning

confidence: 99%

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Actuation Spaces Synthesis of Lower-Mobility Parallel Mechanisms Based on Screw Theory

Shan

et al. 2021

Chin. J. Mech. Eng.

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The lower-mobility parallel mechanism has been widely used in the engineering field due to its numerous excellent characteristics. However, little work has been devoted to the actuator selection and placement that best satisfy the system’s functional requirements during concept design. In this study, a unified approach for synthesizing the actuation spaces of both rigid and flexure parallel mechanisms has been presented, and all possible combinations of inputs could be obtained, laying a theoretical foundation for the subsequent optimization of inputs. According to the linear independence of actuation space and constraint space of the lower-mobility parallel mechanism, a general expression of actuation spaces in the format of screw systems is deduced, a unified synthesis process for the lower-mobility parallel mechanism is derived, and the efficiency of the method is validated with two selective examples based on screw theory. This study presents a theoretical framework for the input selection problems of parallel mechanisms, aiming to help designers select and place actuators in a correct and even optimal way after the configuration design.

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Section: Criterion For Synthesizing Actuation Spacementioning

confidence: 97%

Section: Introductionmentioning

confidence: 99%

Actuation Spaces Synthesis of Lower-Mobility Parallel Mechanisms Based on Screw Theory

Shan

et al. 2021

Chin. J. Mech. Eng.

Self Cite

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“…Combining equations ( 14), ( 16), (17), and (18), the overall dynamic model of the parallel mechanism vibration isolation device is obtained as…”

Section: Dynamic Modeling Of Eachmentioning

confidence: 99%

“…It is worth to highlight that the parallel mechanism, a kind of manipulator, is suitable for almost all equipment and industries due to which it can be made into large, medium, or even microstructures and is suitable for almost all equipment and industries due to its multiple configurations. Generally, the parallel mechanism can be named and abbreviated as 3-UPU [16], 3-RRCPR [17], 6-UPS [18], and 6-UPU [19] according to the configurations. Here, the numbers 2, 3, and 6 represent the number of branches of the mechanism, and U, S, C, and P represent the Hooke hinge, spherical hinge, cylindrical pair, and prismatic pair, respectively.…”

Section: Introductionmentioning

confidence: 99%

Modeling and Vibration Analysis of a 3‐UPU Parallel Vibration Isolation Platform with Linear Motors Based on MS‐DT‐TMM

Chen

Tong

Yang

et al. 2021

Shock and Vibration

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The dynamics and vibration characteristics of a 3-UPU parallel mechanism isolator are investigated by theoretical modeling, numerical simulation, and experimental study. The system consists of two platforms, three linear motors, and the Hook hinges. Firstly, the dynamical mathematical model of this vibration isolator is innovatively established and solved by using the discrete-time transfer matrix method of the multibody system (MS-DT-TMM). According to the modeling principle, the transfer matrix of each component is derived, including the upper and lower platforms, Hooke hinges, and linear motors. Then, the dynamical equation of the overall system is obtained by multiplying all transfer matrices. Secondly, the solution of equation is calculated through the setting of boundary conditions. The numerical simulation is carried out according to the known parameters. The dynamical and vibration analysis of the isolation platform is performed, involving the displacement and force characteristics of the branches. Furthermore, in view of the fact that the Hooke hinges and linear motors are simplified as spatial elastic hinges in modeling. The vibration suppression effect caused by adjusting spring stiffness and damping coefficient is discussed. The simulation results verified the correctness of the MS-DT-TMM method through the comparison with ADAMS simulation results. Finally, the prototype of the vibration isolator is constructed and assembled, and the vibration experiment is conducted. By testing the responses of the isolation device mounted on the vibration table, the natural frequency of the isolator is obtained. The purpose of this experiment is to avoid resonance when it is applied as a vibration isolator in the future. This paper provides a theoretical basis for the later vibration research and control scheme design of the 3-UPU parallel vibration isolation platform.

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“…In recent years, with the rapid development of precision engineering, the pointing mechanism has been widely used in various fields, such as inter-satellite link [ 1 , 2 , 3 ], antenna pointing [ 4 , 5 , 6 ], etc. However, increasing performance requirements for the pointing mechanism make it difficult for traditional series and rigid mechanism to meet the accuracy requirements in the field of micro pointing applications.…”

Section: Introductionmentioning

confidence: 99%

Analysis of Compliance and Kinetostatic of a Novel Class of n-4R Compliant Parallel Micro Pointing Mechanism

Ren

2022

Micromachines

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A novel class of n-4R compliant parallel pointing mechanisms is proposed, and the compliance and kinetostatic model of the mechanism are established and analyzed successively. Firstly, the compliance model of a class of n-4R compliant parallel pointing mechanism is established based on the coordinate transformation. The model is verified by finite element analysis, and the influence of geometric parameter variations on the compliance performance of the mechanism is analyzed. Secondly, the mechanism is simplified to an equivalent spring system, and the governing equation of the equivalent spring system is constructed by utilizing the established compliance model. According to the governing equation, the mapping relationship between the input force and the output displacement of the mechanism is subsequently obtained, that is, the kinetostatic model. Then, the accuracy of the kinetostatic model is verified by two simulation examples: The spiral trajectory of the mobile platform center and the spatial pointing trajectory of the mechanism. The results of the two examples show that the deviations between the analytical results and the FE-results are within 0.038% and 0.857%, with the excellent consistency indicating the accuracy of the kinetostatic model. Finally, the influence of the geometric parameter values on the mapping matrix in the kinetostatic model is studied.

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Kinematic analysis and optimal design of a novel parallel pointing mechanism

Cited by 12 publications

References 28 publications

Actuation Spaces Synthesis of Lower-Mobility Parallel Mechanisms Based on Screw Theory

Actuation Spaces Synthesis of Lower-Mobility Parallel Mechanisms Based on Screw Theory

Modeling and Vibration Analysis of a 3‐UPU Parallel Vibration Isolation Platform with Linear Motors Based on MS‐DT‐TMM

Analysis of Compliance and Kinetostatic of a Novel Class of n-4R Compliant Parallel Micro Pointing Mechanism

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