Unified terminal constraint and kinematics modeling of lower mobility serial-parallel mechanisms composed of two parallel mechanisms

IF 4.5 1区工程技术 Q1 ENGINEERING, MECHANICAL

Mechanism and Machine Theory Pub Date : 2025-07-18 DOI:10.1016/j.mechmachtheory.2025.106134

Bo Hu , Tengkun Ma , Jinjun Zhao , Yinghao Ning

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引用次数: 0

Abstract

Serial-parallel mechanisms have attracted continuous interests in the field of robotics in recent years. However, the researches for lower mobility serial-parallel mechanisms (LMS-PMs) formed by two PMs have not been attempted. This paper establishes the basic theory framework of terminal constraint and kinematics for this class of mechanisms. First, an approach for determining the terminal constraints of LMS-PMs formed by two PMs based on Grassmann-Cayley algebra is proposed. Second, using elimination method and superposition principle, the terminal coupling equations and the forward/inverse displacement solving models of this class of mechanisms are established. Third, combining the velocity mapping relations and the derived terminal constraints, the unified full 6×6 form Jacobian matrix is derived. Finally, the terminal constraint/mobility, forward and inverse displacements, 6×6 form Jacobian of a novel (2-RPU+UPR)+(UPR+RS) LMS-PM are established to demonstrate the established modeling.

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由两个并联机构组成的低自由度串联并联机构的统一末端约束及运动学建模

近年来，串并联机构一直是机器人领域的研究热点。然而，对于由两个粒子组成的低迁移率串联并联机构（lms - pm）的研究还没有尝试过。建立了该类机构的末端约束和运动学的基本理论框架。首先，提出了一种基于Grassmann-Cayley代数确定由两个pm组成的lms - pm的终端约束的方法。其次，利用消元法和叠加原理，建立了该类机构的末端耦合方程和位移正逆求解模型；第三，结合速度映射关系和导出的终端约束，导出统一的完整6×6形式雅可比矩阵。最后，建立了新型(2-RPU+UPR)+(UPR+RS) LMS-PM的终端约束/迁移率、正、逆位移、6×6形式雅可比矩阵来验证所建立的模型。

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

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