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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Main Authors: Bin Sun, Ruiqin Li, Jingjing Liang
Format: Article
Language:zho
Published: Editorial Office of Journal of Mechanical Transmission 2022-03-01
Series:Jixie chuandong
Subjects:
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
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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