Topological Design of an Asymmetric 3-Translational Parallel Mechanism With Zero Coupling Degree and Motion Decoupling

Shen, Huiping; Wu, Chengqi; Chablat, Damien; Gao, Wu; Yang, Ting-Li

doi:10.1115/detc2018-85709

Cited by 3 publications

(2 citation statements)

References 13 publications

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“…H. Shen and D. Zeng et al have provided theoretical methods for parallel mechanism decoupling [17][18][19]. N. Amati and Y. Wang have proposed design methods for tilting and steering mechanisms without considering the wheel alignment parameters [8,11].…”

Section: Introductionmentioning

confidence: 99%

Research on the Decoupling of the Parallel Vehicle Tilting and Steering Mechanism

Gao

Wei

et al. 2022

Applied Sciences

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Active tilting vehicles tilt to the inside of the corner when the vehicle is steering. The tilting motion improves the steering and roll stability of the vehicle. The steering mechanism and the tilting mechanism of the vehicle are connected in parallel. The transmission of the steering mechanism is influenced by the movements of the tilting mechanism. In order to solve this problem, a parallel mechanism is proposed in this paper. It consists of a spatial steering mechanism and a tilting mechanism in parallel. A mathematical model of the parallel mechanism with the wheel alignment parameters has been established. The model calculates the decoupling conditions of the parallel mechanism. In this study, a decoupling method for the parallel mechanism is proposed. A prototype of the parallel mechanism was designed according to the proposed method. The prototype was found to reduce the influence of vehicle tilting on the outer and inner wheel steering angles by up to 0.64% and 0.78%, respectively. The steering geometry correction rate of the prototype is between 1.198 and 0.961. The correctness of the model was verified by experimentation on the prototype. The proposed method can effectively decouple the tilting motion and steering motion of the vehicle and make the wheels on both sides satisfy the Ackerman steering condition.

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Section: Introductionmentioning

confidence: 99%

Research on the Decoupling of the Parallel Vehicle Tilting and Steering Mechanism

Gao

Wei

et al. 2022

Applied Sciences

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“…Bu et al 11 proposed an innovative approach to deal with the mobility of the moving platform and the full-cycle mobility based on the intersection of screw spaces. Shen et al 12 proposed a new parallel manipulator according to the topology design theory of the parallel mechanism (PM) based on the position and orientation characteristics (POC) equations. Then they calculated the main topological characteristics of the proposed mechanism such as POC, degree of freedom (DOF), and coupling degree.…”

Section: Introductionmentioning

confidence: 99%

Mobility analysis of a typical multi-loop coupled mechanism based on screw theory and its drive layout optimization

Han

Yang

Shi

et al. 2014

Advances in Mechanical Engineering

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Improving the load-to-weight ratio of robots is an essential issue in the field of construction robots. In the present study, a method for analyzing the mobility of the typical multi-loop coupled mechanism is proposed, which combines the iterative replacement of generalized kinematic pairs with the screw theory. Then, the driving force/torque, driving power, and total power of actuators are considered as the evaluation indices, and the influence of different drive layouts on the mechanism is analyzed. Obtained results show that the driving force of the moving pair in the drive layout S1 or S3 changes smoothly compared with that in the drive layout S2, and the peak values of the driving force and the driving torque reduce by 49% and 12%, respectively. This demonstrates that the drive layout S1 effectively reduces the quality of the actuators. Finally, the coupled mechanism with the drive layout is applied in a high-altitude curtain wall installation robot, and the prototype of the robot is developed based on the coupled mechanism. Performed experiments show that the load-to-weight ratio in the proposed robot is about 13%.

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Configuration Synthesis of Multi-mode Ankle Rehabilitation Robot

Jia

Liu

Wei

et al. 2021

Intelligent Robotics and Applications

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Topological Design of an Asymmetric 3-Translational Parallel Mechanism With Zero Coupling Degree and Motion Decoupling

Cited by 3 publications

References 13 publications

Research on the Decoupling of the Parallel Vehicle Tilting and Steering Mechanism

Research on the Decoupling of the Parallel Vehicle Tilting and Steering Mechanism

Mobility analysis of a typical multi-loop coupled mechanism based on screw theory and its drive layout optimization

Configuration Synthesis of Multi-mode Ankle Rehabilitation Robot

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