Topology Design and Kinematics for a Novel Semi-symmetric 2T1R Parallel Mechanism with Low Coupling Degree
According to the topology design theory and method of parallel mechanism(PM) based on position and orientation characteristic(POC) equations， a novel semi-symmetrical PM with two translation and one rotation (2T1R) output motion is designed. And the three main topological characteristics of the PM，...
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| Format: | Article |
| Language: | zho |
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Editorial Office of Journal of Mechanical Transmission
2020-01-01
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| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2020.01.003 |
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| author | Hao Ji Huiping Shen Tingli Yang |
| author_facet | Hao Ji Huiping Shen Tingli Yang |
| author_sort | Hao Ji |
| collection | DOAJ |
| description | According to the topology design theory and method of parallel mechanism(PM) based on position and orientation characteristic(POC) equations， a novel semi-symmetrical PM with two translation and one rotation (2T1R) output motion is designed. And the three main topological characteristics of the PM， such as the POC， degrees-of-freedom (DOF) and coupling degree are calculated and analyzed， and the coupling degree of the mechanism is 1.Then， based on the kinematics modeling principle of the ordered single open chain (SOC) units， the positive kinematics solution and inverse kinematics solution formula are achieved. According to formula， the workspace and rotational ability of PM are got and analyzed. The singularity condition of mechanism is studied. The velocity and acceleration of the mechanism are simulated and analyzed. Finally， the principle of the mechanism applied to ankle massage is analyzed. |
| format | Article |
| id | doaj-art-1b6813f2ad7346d9be0e0881f50f5db7 |
| institution | Kabale University |
| issn | 1004-2539 |
| language | zho |
| publishDate | 2020-01-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj-art-1b6813f2ad7346d9be0e0881f50f5db72025-01-10T14:56:19ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392020-01-0144132229796306Topology Design and Kinematics for a Novel Semi-symmetric 2T1R Parallel Mechanism with Low Coupling DegreeHao JiHuiping ShenTingli YangAccording to the topology design theory and method of parallel mechanism(PM) based on position and orientation characteristic(POC) equations， a novel semi-symmetrical PM with two translation and one rotation (2T1R) output motion is designed. And the three main topological characteristics of the PM， such as the POC， degrees-of-freedom (DOF) and coupling degree are calculated and analyzed， and the coupling degree of the mechanism is 1.Then， based on the kinematics modeling principle of the ordered single open chain (SOC) units， the positive kinematics solution and inverse kinematics solution formula are achieved. According to formula， the workspace and rotational ability of PM are got and analyzed. The singularity condition of mechanism is studied. The velocity and acceleration of the mechanism are simulated and analyzed. Finally， the principle of the mechanism applied to ankle massage is analyzed.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2020.01.0032T1R |
| spellingShingle | Hao Ji Huiping Shen Tingli Yang Topology Design and Kinematics for a Novel Semi-symmetric 2T1R Parallel Mechanism with Low Coupling Degree Jixie chuandong 2T1R |
| title | Topology Design and Kinematics for a Novel Semi-symmetric 2T1R Parallel Mechanism with Low Coupling Degree |
| title_full | Topology Design and Kinematics for a Novel Semi-symmetric 2T1R Parallel Mechanism with Low Coupling Degree |
| title_fullStr | Topology Design and Kinematics for a Novel Semi-symmetric 2T1R Parallel Mechanism with Low Coupling Degree |
| title_full_unstemmed | Topology Design and Kinematics for a Novel Semi-symmetric 2T1R Parallel Mechanism with Low Coupling Degree |
| title_short | Topology Design and Kinematics for a Novel Semi-symmetric 2T1R Parallel Mechanism with Low Coupling Degree |
| title_sort | topology design and kinematics for a novel semi symmetric 2t1r parallel mechanism with low coupling degree |
| topic | 2T1R |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2020.01.003 |
| work_keys_str_mv | AT haoji topologydesignandkinematicsforanovelsemisymmetric2t1rparallelmechanismwithlowcouplingdegree AT huipingshen topologydesignandkinematicsforanovelsemisymmetric2t1rparallelmechanismwithlowcouplingdegree AT tingliyang topologydesignandkinematicsforanovelsemisymmetric2t1rparallelmechanismwithlowcouplingdegree |