Design and Kinematics Analysis of Novel Uncoupled Two-translational Parallel Mechanism
Aiming to solve the strong coupling problem of parallel mechanism， a novel uncoupled two-translational parallel mechanism is proposed， which includes three branch chains. The first and the second branch chains have the same structure， they are all RURR-type structures. The third branch chain， called...
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| Format: | Article |
| Language: | zho |
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Editorial Office of Journal of Mechanical Transmission
2021-08-01
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| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2021.08.009 |
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| _version_ | 1841547300299603968 |
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| author | Fenglin Lu Yanbin Zhang Keming Wang Xuemin Wei |
| author_facet | Fenglin Lu Yanbin Zhang Keming Wang Xuemin Wei |
| author_sort | Fenglin Lu |
| collection | DOAJ |
| description | Aiming to solve the strong coupling problem of parallel mechanism， a novel uncoupled two-translational parallel mechanism is proposed， which includes three branch chains. The first and the second branch chains have the same structure， they are all RURR-type structures. The third branch chain， called a pure constraint branch， is composed of three rotational joints whose axes are with parallel to each other. Based on the screw theory， the degree of freedom and output motion characteristics of the mechanism are analyzed. The kinematics models of the mechanism are established by using the actuation screw wrench theory and the closed loop vector method. Position， velocity and acceleration equations are derived. Singularity is also analyzed in detail and the singular configurations of the mechanism are obtained. The kinematics simulation is performed by using Matlab and Adams software. The correctness of the theoretical analysis is verified by the simulation results. |
| format | Article |
| id | doaj-art-e0aa9362e0ba4bcda21effb08228ec2f |
| institution | Kabale University |
| issn | 1004-2539 |
| language | zho |
| publishDate | 2021-08-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj-art-e0aa9362e0ba4bcda21effb08228ec2f2025-01-10T14:48:26ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392021-08-0145636918847600Design and Kinematics Analysis of Novel Uncoupled Two-translational Parallel MechanismFenglin LuYanbin ZhangKeming WangXuemin WeiAiming to solve the strong coupling problem of parallel mechanism， a novel uncoupled two-translational parallel mechanism is proposed， which includes three branch chains. The first and the second branch chains have the same structure， they are all RURR-type structures. The third branch chain， called a pure constraint branch， is composed of three rotational joints whose axes are with parallel to each other. Based on the screw theory， the degree of freedom and output motion characteristics of the mechanism are analyzed. The kinematics models of the mechanism are established by using the actuation screw wrench theory and the closed loop vector method. Position， velocity and acceleration equations are derived. Singularity is also analyzed in detail and the singular configurations of the mechanism are obtained. The kinematics simulation is performed by using Matlab and Adams software. The correctness of the theoretical analysis is verified by the simulation results.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2021.08.009Parallel mechanismKinematics analysisUncoupledSingularitySimulation |
| spellingShingle | Fenglin Lu Yanbin Zhang Keming Wang Xuemin Wei Design and Kinematics Analysis of Novel Uncoupled Two-translational Parallel Mechanism Jixie chuandong Parallel mechanism Kinematics analysis Uncoupled Singularity Simulation |
| title | Design and Kinematics Analysis of Novel Uncoupled Two-translational Parallel Mechanism |
| title_full | Design and Kinematics Analysis of Novel Uncoupled Two-translational Parallel Mechanism |
| title_fullStr | Design and Kinematics Analysis of Novel Uncoupled Two-translational Parallel Mechanism |
| title_full_unstemmed | Design and Kinematics Analysis of Novel Uncoupled Two-translational Parallel Mechanism |
| title_short | Design and Kinematics Analysis of Novel Uncoupled Two-translational Parallel Mechanism |
| title_sort | design and kinematics analysis of novel uncoupled two translational parallel mechanism |
| topic | Parallel mechanism Kinematics analysis Uncoupled Singularity Simulation |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2021.08.009 |
| work_keys_str_mv | AT fenglinlu designandkinematicsanalysisofnoveluncoupledtwotranslationalparallelmechanism AT yanbinzhang designandkinematicsanalysisofnoveluncoupledtwotranslationalparallelmechanism AT kemingwang designandkinematicsanalysisofnoveluncoupledtwotranslationalparallelmechanism AT xueminwei designandkinematicsanalysisofnoveluncoupledtwotranslationalparallelmechanism |