Type Synthesis of 1T2R Parallel Mechanisms Using Structure Coupling-Reducing Method

Liu, Haitao; Xu, Ke; Shen, Huiping; Shan, Xianlei; Yang, Ting-Li

doi:10.1186/s10033-019-0403-1

Cited by 6 publications

(4 citation statements)

References 23 publications

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“…ς Li is the number of independent displacement equations of the SOC i , which can be obtained through the method in Ref. [10]. The couple degree κ of UPS-RPU-PU PM can be obtained as…”

Section: Topological Coupling-reducing Design For 2r1t Pmmentioning

confidence: 99%

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Configuration design and dimensional synthesis of an asymmetry 2R1T parallel mechanism

Peng

Zhi-hong²,

Che³

et al. 2022

Robotica

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This paper focuses on configuration design, dimensional synthesis, and engineering application of a novel asymmetric 2R1T parallel mechanism (PM) with zero-coupling degree. The analytical forward and inverse displacement solutions are deduced by the means of vector method. The mathematical models between Euler angles and the orientational parameters (i.e., azimuth and tilt angles) of the offset output axis are established. Using screw theory as mathematical tool, this paper worked out evaluation indices of motion/force transmissibility and presented the definitions and calculation methods of good transmission orientation workspace and good transmission orientation capacity (GTOC). Furthermore, a comparative example with respect to kinematic performance of asymmetric UPS-RPU-PU PM and planar symmetric 2UPS-PU PM is carried out, and the result demonstrates that UPS-RPU-PU significantly outperforms 2UPS-PU in terms of GTOC. The constrained optimization model is constructed to formulate optimal problem of dimensional parameters on the maximizing GTOC, which is then solved by differential evolution algorithm. Finally, an engineering case demonstrates that the optimized mechanism has a good application prospect in hydraulic support test bed.

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“…ς Li is the number of independent displacement equations of the SOC i , which can be obtained through the method in Ref. [10]. The couple degree κ of UPS-RPU-PU PM can be obtained as…”

Section: Topological Coupling-reducing Design For 2r1t Pmmentioning

confidence: 99%

“…In Ref. [10], multiple PMs with zero-coupling degree are generated by using the structural decoupling principle. However, the achievements in Refs.…”

Section: Introductionmentioning

confidence: 99%

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Configuration design and dimensional synthesis of an asymmetry 2R1T parallel mechanism

Peng

Zhi-hong²,

Che³

et al. 2022

Robotica

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“…Based on topological structure design theory of position and orientation characteristic (POC) set, Liu et al [9] proposed three methods for structure coupling-reducing of the 3UPS&UP PM based on the mechanism topology theory. Briot et al [10] presented a novel 4-DOF decoupled PM with Schoenflies motions, called the Pantopteron-4.…”

Section: Introductionmentioning

confidence: 99%

Type Synthesis of Fully Decoupled Three Translational Parallel Mechanism with Closed loop Units and High Stiffness

Wang

et al. 2021

Preprint

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In this paper, a new synthesis method of fully decoupled three translational (3T) parallel mechanisms (PMs) with closed loop units and high stiffness is proposed based on screw theory. Firstly, a new criterion for the full decoupled of PMs is presented that the reciprocal product of the transmission wrenc h screw matrix and the output twist screw matrix of PMs is a diagonal matrix, and all elements on the main diagonal are nonzero constants. The forms of the transmission wrench screws are determined by the criterion. Secondly, the forms of the actuated and unactuated screws can be obtained according to their relationships with the transmission wrench screws. The basic decoupled limbs are generated by combination of the above actuated and unactuated screws. Finally, a closed loop units construction method is investigated to apply the decoupled mechanisms in a better way on the high stiffness occasion. The closed loop units are constructed in the basic decoupled limbs to generate a high stiffness fully decoupled 3T PM. Kinematic and stiffness analys e s show that the Jacobian matrix is a diagonal matrix, and the stiffness is obviously higher than that of the orthogonal coupling mechanisms, which verifies the correctness of the proposed synthesis method. The mechanism synthesized by this method has a good applicati on prospect in vehicle durability test platform.

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Updating structural synthesis methodology of mechanisms: from kinematic geometry to kinematic geometry accompanied with statics

Han,

Guo,

Zhao

et al. 2024

Mechanism and Machine Theory

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Type Synthesis of 1T2R Parallel Mechanisms Using Structure Coupling-Reducing Method

Cited by 6 publications

References 23 publications

Configuration design and dimensional synthesis of an asymmetry 2R1T parallel mechanism

Configuration design and dimensional synthesis of an asymmetry 2R1T parallel mechanism

Type Synthesis of Fully Decoupled Three Translational Parallel Mechanism with Closed loop Units and High Stiffness

Updating structural synthesis methodology of mechanisms: from kinematic geometry to kinematic geometry accompanied with statics

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