Kinematic Performance Analysis and Dimensional Optimization of New Symmetric Parallel Mechanism 6RPS with Multi-Redundant Actuations

IF 2.2 4区计算机科学 Q2 ENGINEERING, MECHANICAL

Journal of Mechanisms and Robotics-Transactions of the Asme Pub Date : 2023-10-20 DOI:10.1115/1.4063873

Xiaofei Liu, Bo Wan, Yu Liu, Ran Chen, Jiantao Yao, Yongsheng Zhao

引用次数: 0

Abstract

Abstract A new symmetric parallel mechanism 6RPS with multi-redundant actuations is proposed in this paper, which possesses two rotational and one translational degrees of freedom. Motion and constraint screw systems of this mechanism are established and then character of the freedom is analyzed. Transmission performance indexes are established, and dimension optimization is operated by considering the distribution of transmission performance. Whole quality posture space and performance distribution are analyzed with optimal dimension. Motion interference condition of the mechanism is studied, and accessible posture space are analyzed by combining joint space restriction. A comprehensive performance comparison with a counterpart configuration is exhibited. Research results of this paper are of reference significance for both the research of parallel mechanism with two rotational and one translational degrees of freedom, and the application of mechanism 6RPS.

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多冗余驱动新型对称并联机构6RPS的运动性能分析及尺寸优化

摘要提出了一种具有两个转动自由度和平移自由度的多冗余驱动对称并联机构6RPS。建立了该机构的运动和约束螺杆系统，并对其自由度特性进行了分析。建立了传动性能指标，并在考虑传动性能分布的基础上进行了量纲优化。用最优维数分析了整体质量姿态空间和性能分布。研究了机构的运动干扰条件，结合关节空间限制分析了可达姿态空间。展示了与对应配置的综合性能比较。本文的研究成果对于两转动一平移并联机构的研究以及机构6RPS的应用都具有一定的参考意义。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Journal of Mechanisms and Robotics-Transactions of the Asme ENGINEERING, MECHANICAL-ROBOTICS

CiteScore

5.60

自引率

15.40%

发文量

131

审稿时长

4.5 months

期刊介绍： Fundamental theory, algorithms, design, manufacture, and experimental validation for mechanisms and robots; Theoretical and applied kinematics; Mechanism synthesis and design; Analysis and design of robot manipulators, hands and legs, soft robotics, compliant mechanisms, origami and folded robots, printed robots, and haptic devices; Novel fabrication; Actuation and control techniques for mechanisms and robotics; Bio-inspired approaches to mechanism and robot design; Mechanics and design of micro- and nano-scale devices.