Kinematics, Singularity and Workspace Analysis of a Novel 3T Parallel Mechanism Based on SKC
According to the theory and method of topological design of the parallel mechanism (PM) based on position and orientation characteristic (POC) equations, a novel three-translation (3T) parallel mechanism for grasping is proposed. Firstly, the design process of the entire PM is described and the main...
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| Format: | Article |
| Language: | zho |
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Editorial Office of Journal of Mechanical Transmission
2023-07-01
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| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2023.07.009 |
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| _version_ | 1841547000039866368 |
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| author | Zhao Yi'nan Shen Huiping Lu Chenfang Huang Xiaoping |
| author_facet | Zhao Yi'nan Shen Huiping Lu Chenfang Huang Xiaoping |
| author_sort | Zhao Yi'nan |
| collection | DOAJ |
| description | According to the theory and method of topological design of the parallel mechanism (PM) based on position and orientation characteristic (POC) equations, a novel three-translation (3T) parallel mechanism for grasping is proposed. Firstly, the design process of the entire PM is described and the main topological features of the mechanism are analyzed. It is proved that the mechanism contains two sub-kinematics chains (SKCs） whose coupling degree equals 0. Secondly, according to the kinematics modeling principle for parallel mechanism based on topological features, the direct kinematics problem (DKP) and inverse kinematics problem (IKP) of the mechanism are solved according to the order of SKC. Then, according to the singularity analysis method based on SKC theory, the first and second kind of singular configurations in each SKC are analyzed. Finally, the task workspace with the optimal internal velocity transmission factors index of the mechanism is analyzed and selected. This study lays the foundation for the stiffness, dynamics and engineering prototype design of the mechanism. |
| format | Article |
| id | doaj-art-f727932428c94afcaab242af346b504d |
| institution | Kabale University |
| issn | 1004-2539 |
| language | zho |
| publishDate | 2023-07-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj-art-f727932428c94afcaab242af346b504d2025-01-10T14:58:32ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392023-07-0147586840048733Kinematics, Singularity and Workspace Analysis of a Novel 3T Parallel Mechanism Based on SKCZhao Yi'nanShen HuipingLu ChenfangHuang XiaopingAccording to the theory and method of topological design of the parallel mechanism (PM) based on position and orientation characteristic (POC) equations, a novel three-translation (3T) parallel mechanism for grasping is proposed. Firstly, the design process of the entire PM is described and the main topological features of the mechanism are analyzed. It is proved that the mechanism contains two sub-kinematics chains (SKCs） whose coupling degree equals 0. Secondly, according to the kinematics modeling principle for parallel mechanism based on topological features, the direct kinematics problem (DKP) and inverse kinematics problem (IKP) of the mechanism are solved according to the order of SKC. Then, according to the singularity analysis method based on SKC theory, the first and second kind of singular configurations in each SKC are analyzed. Finally, the task workspace with the optimal internal velocity transmission factors index of the mechanism is analyzed and selected. This study lays the foundation for the stiffness, dynamics and engineering prototype design of the mechanism.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2023.07.009Parallel mechanismSub-kinematics chainCoupling degreeVelocity transmission factorWorkspace |
| spellingShingle | Zhao Yi'nan Shen Huiping Lu Chenfang Huang Xiaoping Kinematics, Singularity and Workspace Analysis of a Novel 3T Parallel Mechanism Based on SKC Jixie chuandong Parallel mechanism Sub-kinematics chain Coupling degree Velocity transmission factor Workspace |
| title | Kinematics, Singularity and Workspace Analysis of a Novel 3T Parallel Mechanism Based on SKC |
| title_full | Kinematics, Singularity and Workspace Analysis of a Novel 3T Parallel Mechanism Based on SKC |
| title_fullStr | Kinematics, Singularity and Workspace Analysis of a Novel 3T Parallel Mechanism Based on SKC |
| title_full_unstemmed | Kinematics, Singularity and Workspace Analysis of a Novel 3T Parallel Mechanism Based on SKC |
| title_short | Kinematics, Singularity and Workspace Analysis of a Novel 3T Parallel Mechanism Based on SKC |
| title_sort | kinematics singularity and workspace analysis of a novel 3t parallel mechanism based on skc |
| topic | Parallel mechanism Sub-kinematics chain Coupling degree Velocity transmission factor Workspace |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2023.07.009 |
| work_keys_str_mv | AT zhaoyinan kinematicssingularityandworkspaceanalysisofanovel3tparallelmechanismbasedonskc AT shenhuiping kinematicssingularityandworkspaceanalysisofanovel3tparallelmechanismbasedonskc AT luchenfang kinematicssingularityandworkspaceanalysisofanovel3tparallelmechanismbasedonskc AT huangxiaoping kinematicssingularityandworkspaceanalysisofanovel3tparallelmechanismbasedonskc |