Research of Conceptual Design and Kinematic Characteristic of a 3-PRS Parallel Kinematic Machine
A conceptual design of a parallel kinematic machine（ PKM） whose topological arrangement is a 3-PRS parallel mechanism is proposed. Based on the screw theory,the degree of freedom（ DOF） of the proposed PKM is analyzed. The results show that the 3-PRS PKM possesses one translational and two rotational...
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| Main Authors: | , |
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| Format: | Article |
| Language: | zho |
| Published: |
Editorial Office of Journal of Mechanical Transmission
2019-01-01
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| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2019.01.008 |
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| Summary: | A conceptual design of a parallel kinematic machine（ PKM） whose topological arrangement is a 3-PRS parallel mechanism is proposed. Based on the screw theory,the degree of freedom（ DOF） of the proposed PKM is analyzed. The results show that the 3-PRS PKM possesses one translational and two rotational capabilities（ 1T2R）. After the DOF analysis,a kinematics model is established. By solving the closed-loop vector motion equation,the analytical expression for the inverse kinematics solution of the proposed 3-PRS PKM is given. Based on the inverse kinematics solution,by considering the geometrical constraints,the reachable workspace search process is constructed,and the reachable workspace mapping of 3-PRS PKM is given. Finally,a sensitivity analysis is carried out to reveal the influences of some major dimensional parameters on the reachable workspace of 3-PRS PKM. The research results manifest that these dimensional parameters have different influences on the reachable workspace of 3-PRS PKM. Among all these parameters,the radius of the moving platform should be paid more attentions during the dimension synthesis of PKM. |
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| ISSN: | 1004-2539 |