Type synthesis of non-overconstrained and overconstrained two rotation and three translation (2R3T) parallel mechanisms with three branched chains

IF 1 4区工程技术 Q4 ENGINEERING, MECHANICAL

Mechanical Sciences Pub Date : 2023-12-20 DOI:10.5194/ms-14-567-2023

Yu Rong, X. Zhang, Tianci Dou, Hongbo Wang

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引用次数: 0

Abstract

Abstract. In this paper, a new synthesis method of 2R3T (R denotes rotation and T denotes translation) overconstrained and non-overconstrained parallel mechanisms (PMs) with three branched chains based on the displacement sub-manifold method is presented. Firstly, the displacement sub-manifolds of mechanisms were determined based on 2R3T motions. Subsequently, the displacement sub-manifolds of the branched chains were derived using the displacement sub-manifold theory, and their corresponding motion diagrams were provided. Additionally, a comprehensive analysis of non-overconstrained 2R3T PMs with a single-constraint branched chain was conducted, and the type synthesis of overconstrained 2R3T PMs with two or three identical constraints was also performed, accompanied by the presentation of partial mechanism diagrams. Finally, the number of DOF (degrees of freedom) of the mechanism was calculated using the modified Kutzbach–Grübler equation for a new PMs,and the screw theory was used to verify the kinematic characteristics, proving this new method's correctness.

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具有三个支链的非超约束和超约束两旋三移（2R3T）并行机制的类型合成

摘要本文提出了一种基于位移子曲面法的 2R3T（R 表示旋转，T 表示平移）过约束和非过约束三支链并联机构（PM）的新合成方法。首先，基于 2R3T 运动确定了机构的位移子漫游。随后，利用位移子芒福德理论推导出了支链的位移子芒福德，并提供了相应的运动图。此外，还对具有单约束支链的非过约束 2R3T PM 进行了综合分析，并对具有两个或三个相同约束的过约束 2R3T PM 进行了类型综合，同时给出了部分机构图。最后，利用修正的库茨巴赫-格吕布勒方程计算了新永磁材料的机构 DOF（自由度）数，并利用螺杆理论验证了其运动特性，证明了这一新方法的正确性。

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

Mechanical Sciences ENGINEERING, MECHANICAL-

CiteScore

2.20

自引率

7.10%

发文量

审稿时长

29 weeks

期刊介绍： The journal Mechanical Sciences (MS) is an international forum for the dissemination of original contributions in the field of theoretical and applied mechanics. Its main ambition is to provide a platform for young researchers to build up a portfolio of high-quality peer-reviewed journal articles. To this end we employ an open-access publication model with moderate page charges, aiming for fast publication and great citation opportunities. A large board of reputable editors makes this possible. The journal will also publish special issues dealing with the current state of the art and future research directions in mechanical sciences. While in-depth research articles are preferred, review articles and short communications will also be considered. We intend and believe to provide a means of publication which complements established journals in the field.