Structure synthesis of 3-DOF translational parallel mechanisms with configurable platform of translation

IF 2.9 3区工程技术 Q2 ENGINEERING, MECHANICAL

Journal of Mechanical Design Pub Date : 2024-01-31 DOI:10.1115/1.4064631

Jingyao Zhang, Jiantao Yao, Hongyu Zhang, Jiawei Guo, Shuai Zhang

引用次数: 0

Abstract

The parallel mechanisms (PMs) with configurable platform have advantages of flexibility, high speed and extra operability over PMs with common platform. This paper proposes a systematic approach for synthesizing 3 degrees of freedom (DOF) translational parallel mechanisms with configurable platforms of one translation DOF (TPMs-T) based on the finite screw. The motion relationship between configurable platform and limbs is discussed to achieve the motion requirement of the TPMs-T limbs. The equivalence principle of kinematic joints is further pinpointed, and a series of lower mobility limbs have been developed. At last, the geometric relationship of assembly conditions is derived which can contribute to quickly solving the intersection of limb motions, a series of TPMs-T are constructed to verify the assembly conditions and the fully-controlled condition is discussed.

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具有可配置平移平台的 3-DOF 平移并行机构的结构合成

与普通平台的并联机构相比，可配置平台的并联机构（PMs）具有灵活、高速和额外可操作性等优点。本文提出了一种基于有限螺旋的系统方法，用于合成具有一个平移 DOF 的可配置平台的 3 自由度（DOF）平移并联机构（TPMs-T）。本文讨论了可配置平台和肢体之间的运动关系，以实现 TPMs-T 肢体的运动要求。进一步指出了运动关节的等效原理，并开发了一系列低移动性肢体。最后，推导了装配条件的几何关系，这有助于快速解决肢体运动的交叉问题，并构建了一系列 TPMs-T 来验证装配条件，还讨论了完全控制条件。

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 Mechanical Design 工程技术-工程：机械

CiteScore

8.00

自引率

18.20%

发文量

139

审稿时长

3.9 months

期刊介绍： The Journal of Mechanical Design (JMD) serves the broad design community as the venue for scholarly, archival research in all aspects of the design activity with emphasis on design synthesis. JMD has traditionally served the ASME Design Engineering Division and its technical committees, but it welcomes contributions from all areas of design with emphasis on synthesis. JMD communicates original contributions, primarily in the form of research articles of considerable depth, but also technical briefs, design innovation papers, book reviews, and editorials. Scope: The Journal of Mechanical Design (JMD) serves the broad design community as the venue for scholarly, archival research in all aspects of the design activity with emphasis on design synthesis. JMD has traditionally served the ASME Design Engineering Division and its technical committees, but it welcomes contributions from all areas of design with emphasis on synthesis. JMD communicates original contributions, primarily in the form of research articles of considerable depth, but also technical briefs, design innovation papers, book reviews, and editorials.