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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| Format: | Article |
| Language: | zho |
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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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| author | Tang Tengfei Zhang Jun |
| author_facet | Tang Tengfei Zhang Jun |
| author_sort | Tang Tengfei |
| collection | DOAJ |
| description | 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. |
| format | Article |
| id | doaj-art-790b38eebedf4f5a8b921d4049190b19 |
| institution | Kabale University |
| issn | 1004-2539 |
| language | zho |
| publishDate | 2019-01-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj-art-790b38eebedf4f5a8b921d4049190b192025-01-10T14:02:44ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392019-01-0143353929940582Research of Conceptual Design and Kinematic Characteristic of a 3-PRS Parallel Kinematic MachineTang TengfeiZhang JunA 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.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2019.01.008Parallel kinematic machineDegree of freedomKinematicsWorkspace |
| spellingShingle | Tang Tengfei Zhang Jun Research of Conceptual Design and Kinematic Characteristic of a 3-PRS Parallel Kinematic Machine Jixie chuandong Parallel kinematic machine Degree of freedom Kinematics Workspace |
| title | Research of Conceptual Design and Kinematic Characteristic of a 3-PRS Parallel Kinematic Machine |
| title_full | Research of Conceptual Design and Kinematic Characteristic of a 3-PRS Parallel Kinematic Machine |
| title_fullStr | Research of Conceptual Design and Kinematic Characteristic of a 3-PRS Parallel Kinematic Machine |
| title_full_unstemmed | Research of Conceptual Design and Kinematic Characteristic of a 3-PRS Parallel Kinematic Machine |
| title_short | Research of Conceptual Design and Kinematic Characteristic of a 3-PRS Parallel Kinematic Machine |
| title_sort | research of conceptual design and kinematic characteristic of a 3 prs parallel kinematic machine |
| topic | Parallel kinematic machine Degree of freedom Kinematics Workspace |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2019.01.008 |
| work_keys_str_mv | AT tangtengfei researchofconceptualdesignandkinematiccharacteristicofa3prsparallelkinematicmachine AT zhangjun researchofconceptualdesignandkinematiccharacteristicofa3prsparallelkinematicmachine |