A New Type of Closed-loop Limb Redundant Parallel Mechanism
Redundantly driven parallel mechanisms have been increasingly used in practical production because of their greater stiffness and force maneuverability. Based on 3-RPS parallel mechanism，a redundant parallel mechanism with five-bar closed-loop structure limbs is proposed. Through the analysis of the...
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| Main Authors: | , , |
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| Format: | Article |
| Language: | zho |
| Published: |
Editorial Office of Journal of Mechanical Transmission
2019-07-01
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| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2019.07.016 |
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| Summary: | Redundantly driven parallel mechanisms have been increasingly used in practical production because of their greater stiffness and force maneuverability. Based on 3-RPS parallel mechanism，a redundant parallel mechanism with five-bar closed-loop structure limbs is proposed. Through the analysis of the structure and movement of closed-loop limbs，combined with mathematical derivation and Matlab，the overall kinematics performance of the mechanism is analyzed. According to the results of kinematics，compare the workspace situation of the mechanism with the redundant limbs and without the redundant limbs. The results show that the redundant limbs will reduce the workspace of the mechanism，and the overall reduction is about 20%. However，due to the increased stiffness of the mechanism， the mechanism still has obvious advantages within the scope of work， and it also provides a new configuration and theoretical basis for the research of redundantly driven parallel mechanisms in the future. |
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| ISSN: | 1004-2539 |