Configuration Synthesis of Decoupled Parallel Mechanical Leg of Walking Machining Robot
A kind of fully rotational decoupled and partly translational decoupled mechanical leg (PUPR-PUPR-PRPAS) is synthesized by combining the screw theory, the practical function of the robot and the motion transformation matrix of the mechanical leg. First, the DOF of mechanical leg is obtained by analy...
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| Format: | Article |
| Language: | zho |
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Editorial Office of Journal of Mechanical Transmission
2019-09-01
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| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2019.09.007 |
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| author | Jiali Chen Yong Xu Wencai Liu |
| author_facet | Jiali Chen Yong Xu Wencai Liu |
| author_sort | Jiali Chen |
| collection | DOAJ |
| description | A kind of fully rotational decoupled and partly translational decoupled mechanical leg (PUPR-PUPR-PRPAS) is synthesized by combining the screw theory, the practical function of the robot and the motion transformation matrix of the mechanical leg. First, the DOF of mechanical leg is obtained by analyzed the practical function of walking machining robot. Then, the number of branches and the distribution of DOF on branches can be obtained according to DOF. Next, the actuation screw is used to obtain the driving screw with the aim of movement decoupling by analyzing the kinematics screw and constraint screw of the mechanical leg. The configuration synthesis of decoupled parallel mechanical leg is carried out with the practical function of the robots. The branches are selected out in those obtained configurations according to the norm of functions and coordination to constitute the primary configuration. Finally, the compound simplification is carried out among single-degree-of-freedom joint pairs of mechanical leg, and the simplified motion transformation matrix is analyzed. The third branch is further improved to determine the final configuration of the mechanical leg. |
| format | Article |
| id | doaj-art-073f558dded84db0a564a725c359aa81 |
| institution | Kabale University |
| issn | 1004-2539 |
| language | zho |
| publishDate | 2019-09-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj-art-073f558dded84db0a564a725c359aa812025-01-10T13:57:57ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392019-09-0143414930642186Configuration Synthesis of Decoupled Parallel Mechanical Leg of Walking Machining RobotJiali ChenYong XuWencai LiuA kind of fully rotational decoupled and partly translational decoupled mechanical leg (PUPR-PUPR-PRPAS) is synthesized by combining the screw theory, the practical function of the robot and the motion transformation matrix of the mechanical leg. First, the DOF of mechanical leg is obtained by analyzed the practical function of walking machining robot. Then, the number of branches and the distribution of DOF on branches can be obtained according to DOF. Next, the actuation screw is used to obtain the driving screw with the aim of movement decoupling by analyzing the kinematics screw and constraint screw of the mechanical leg. The configuration synthesis of decoupled parallel mechanical leg is carried out with the practical function of the robots. The branches are selected out in those obtained configurations according to the norm of functions and coordination to constitute the primary configuration. Finally, the compound simplification is carried out among single-degree-of-freedom joint pairs of mechanical leg, and the simplified motion transformation matrix is analyzed. The third branch is further improved to determine the final configuration of the mechanical leg.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2019.09.007Walking machining robotMachining modeWalking modeDecoupling performanceMotion transformation matrix |
| spellingShingle | Jiali Chen Yong Xu Wencai Liu Configuration Synthesis of Decoupled Parallel Mechanical Leg of Walking Machining Robot Jixie chuandong Walking machining robot Machining mode Walking mode Decoupling performance Motion transformation matrix |
| title | Configuration Synthesis of Decoupled Parallel Mechanical Leg of Walking Machining Robot |
| title_full | Configuration Synthesis of Decoupled Parallel Mechanical Leg of Walking Machining Robot |
| title_fullStr | Configuration Synthesis of Decoupled Parallel Mechanical Leg of Walking Machining Robot |
| title_full_unstemmed | Configuration Synthesis of Decoupled Parallel Mechanical Leg of Walking Machining Robot |
| title_short | Configuration Synthesis of Decoupled Parallel Mechanical Leg of Walking Machining Robot |
| title_sort | configuration synthesis of decoupled parallel mechanical leg of walking machining robot |
| topic | Walking machining robot Machining mode Walking mode Decoupling performance Motion transformation matrix |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2019.09.007 |
| work_keys_str_mv | AT jialichen configurationsynthesisofdecoupledparallelmechanicallegofwalkingmachiningrobot AT yongxu configurationsynthesisofdecoupledparallelmechanicallegofwalkingmachiningrobot AT wencailiu configurationsynthesisofdecoupledparallelmechanicallegofwalkingmachiningrobot |