A novel 6-PUS+6-SPS/6-UPS parallel configuration with wide-range, high-resolution motion under heavy load conditions

IF 4.5 1区工程技术 Q1 ENGINEERING, MECHANICAL

Mechanism and Machine Theory Pub Date : 2025-07-23 DOI:10.1016/j.mechmachtheory.2025.106157

Songlin Zhou , Yuanhao Pan , Yan Hu , Mingyang Shan , Weixing Chen , Ke Yin , Feng Gao

引用次数: 0

Abstract

This study proposes a novel 6-PUS+6-SPS/6-UPS hybrid parallel configuration that achieves wide-range motion with high resolution under heavy loads. This configuration consists of three closely coordinated subsystems, thus achieving large stroke, high resolution, and high load-bearing capacity simultaneously. First, this study analyzes how the parameters and arrangement of the configuration affects its motion performance. Second, this study presents a design method for the 6-PUS+6-SPS/6-UPS parallel configuration to meet the requirements. Finally, this study details the design of a prototype based on the proposed theory, and conducts experiments to verify the effectiveness.

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新颖的6-PUS+6-SPS/6-UPS并联配置，在重载条件下具有宽范围，高分辨率运动

本研究提出一种新颖的6-PUS+6-SPS/6-UPS混合并联配置，在重载下实现高分辨率的大范围运动。该结构由三个紧密协调的子系统组成，从而同时实现大冲程、高分辨率和高承载能力。首先，本研究分析了结构参数和布置对其运动性能的影响。其次，本文提出了满足要求的6-PUS+6-SPS/6-UPS并联配置的设计方法。最后，本研究详细设计了基于所提理论的原型，并进行了实验验证。

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