Singularity of Spatial 3-PRR Parallel Mechanism and Its Application in Irregular Surface Engraving Machine
A spatial 3-PRR parallel mechanism is proposed and the axes of all the revolute pairs of the parallel mechanism are parallel to each other. Based on the screw theory calculation,the mechanism has three degrees of freedom (DOFs) which include two translations and one rotation. The inverse kinematic s...
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Language: | zho |
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Editorial Office of Journal of Mechanical Transmission
2022-03-01
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Series: | Jixie chuandong |
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Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2022.03.023 |
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author | Bin Sun Ruiqin Li Jingjing Liang |
author_facet | Bin Sun Ruiqin Li Jingjing Liang |
author_sort | Bin Sun |
collection | DOAJ |
description | A spatial 3-PRR parallel mechanism is proposed and the axes of all the revolute pairs of the parallel mechanism are parallel to each other. Based on the screw theory calculation,the mechanism has three degrees of freedom (DOFs) which include two translations and one rotation. The inverse kinematic solutions are obtained by using close-loop vector method. Based on the inverse kinematic solutions,the Jacobian matrix of the mechanism is solved,and two kinds of singularities of the mechanism are obtained according to the Jacobian matrix. Based on the given parameters and constraints,the reachable workspace of the moving platform is determined by using workspace search method. An application example of engraving machine for irregular surface is given. The experiment result shows that its performance can satisfy the requirements of engraving. |
format | Article |
id | doaj-art-a49d6857b92f49cfb8556055bb82946e |
institution | Kabale University |
issn | 1004-2539 |
language | zho |
publishDate | 2022-03-01 |
publisher | Editorial Office of Journal of Mechanical Transmission |
record_format | Article |
series | Jixie chuandong |
spelling | doaj-art-a49d6857b92f49cfb8556055bb82946e2025-01-10T13:59:03ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392022-03-014614915330478556Singularity of Spatial 3-PRR Parallel Mechanism and Its Application in Irregular Surface Engraving MachineBin SunRuiqin LiJingjing LiangA spatial 3-PRR parallel mechanism is proposed and the axes of all the revolute pairs of the parallel mechanism are parallel to each other. Based on the screw theory calculation,the mechanism has three degrees of freedom (DOFs) which include two translations and one rotation. The inverse kinematic solutions are obtained by using close-loop vector method. Based on the inverse kinematic solutions,the Jacobian matrix of the mechanism is solved,and two kinds of singularities of the mechanism are obtained according to the Jacobian matrix. Based on the given parameters and constraints,the reachable workspace of the moving platform is determined by using workspace search method. An application example of engraving machine for irregular surface is given. The experiment result shows that its performance can satisfy the requirements of engraving.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2022.03.0233-PRR parallel mechanismInverse kinematicsSingularityWorkspaceEngraving machine |
spellingShingle | Bin Sun Ruiqin Li Jingjing Liang Singularity of Spatial 3-PRR Parallel Mechanism and Its Application in Irregular Surface Engraving Machine Jixie chuandong 3-PRR parallel mechanism Inverse kinematics Singularity Workspace Engraving machine |
title | Singularity of Spatial 3-PRR Parallel Mechanism and Its Application in Irregular Surface Engraving Machine |
title_full | Singularity of Spatial 3-PRR Parallel Mechanism and Its Application in Irregular Surface Engraving Machine |
title_fullStr | Singularity of Spatial 3-PRR Parallel Mechanism and Its Application in Irregular Surface Engraving Machine |
title_full_unstemmed | Singularity of Spatial 3-PRR Parallel Mechanism and Its Application in Irregular Surface Engraving Machine |
title_short | Singularity of Spatial 3-PRR Parallel Mechanism and Its Application in Irregular Surface Engraving Machine |
title_sort | singularity of spatial 3 prr parallel mechanism and its application in irregular surface engraving machine |
topic | 3-PRR parallel mechanism Inverse kinematics Singularity Workspace Engraving machine |
url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2022.03.023 |
work_keys_str_mv | AT binsun singularityofspatial3prrparallelmechanismanditsapplicationinirregularsurfaceengravingmachine AT ruiqinli singularityofspatial3prrparallelmechanismanditsapplicationinirregularsurfaceengravingmachine AT jingjingliang singularityofspatial3prrparallelmechanismanditsapplicationinirregularsurfaceengravingmachine |