Type synthesis of 2T1H parallel mechanisms without helical joints based on analytic formulation of screw type terminal constraints

IF 4.5 1区工程技术 Q1 ENGINEERING, MECHANICAL

Mechanism and Machine Theory Pub Date : 2025-02-18 DOI:10.1016/j.mechmachtheory.2025.105954

Bo Hu , Peng Bai

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引用次数: 0

Abstract

The type synthesis of 2T1H PMs without helical joints has not been carried out in the field of mechanisms. In this paper, we propose an analytical based approach combining solving vector equations and screw theory for the type synthesis of 2T1H PMs without helical joints. Firstly, the conditions of the terminal constraints for constructing the 2T1H PMs are analyzed based on the freedom and constraint space and screw theory. Secondly, the limbs suitable for constructing 2T1H PMs are screened and determined. Thirdly, the assembly conditions for 2T1H PMs are obtained from the analytical expressions of the corresponding terminal constraints and a series of novel PMs are synthesized through the synthesis process. Finally, the kinematics of a novel 2T1H PM is analyzed and the pitch characteristic of its terminal constraints is revealed. The research provides an effective method for the type synthesis of PMs with screw type terminal constraints and motions. The proposed new mechanisms will enrich the configurations of existing PMs.

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来源期刊

Mechanism and Machine Theory 工程技术-工程：机械

CiteScore

9.90

自引率

23.10%

发文量

450

审稿时长

20 days

期刊介绍： Mechanism and Machine Theory provides a medium of communication between engineers and scientists engaged in research and development within the fields of knowledge embraced by IFToMM, the International Federation for the Promotion of Mechanism and Machine Science, therefore affiliated with IFToMM as its official research journal. The main topics are: Design Theory and Methodology; Haptics and Human-Machine-Interfaces; Robotics, Mechatronics and Micro-Machines; Mechanisms, Mechanical Transmissions and Machines; Kinematics, Dynamics, and Control of Mechanical Systems; Applications to Bioengineering and Molecular Chemistry