Design, modeling and analysis of a novel (3+1)-DOF multi-loop coupled mechanism with configurable moving platform

IF 4.5 1区 工程技术 Q1 ENGINEERING, MECHANICAL
Jiantao Yao , Hanjun Deng , Jingyao Zhang , Yuan Jiang , Bo Hu
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引用次数: 0

Abstract

This paper presents a novel (3 + 1)-DOF multi-loop coupled mechanism with configurable moving platform, which has the capability to simultaneously actuate the motion of posture adjustment and operation motion of the distal end, the ability of unlimited rotation in a single dimension and maintenance of a fixed rotation center. In contrast to the design of serially linking the posture control and operation mechanisms, this novel mechanism achieves operation motion of distal end and posture adjustment motion in same time through relative motions between the branches. This novel design places the actuators at the proximal end of the mechanism, resolving issues like gravity center shift and wiring complexities. First, we introduce the concept design of this multi-loop coupled mechanism in conjunction with the conception of generalized parallel mechanism. Through kinematic analysis and performance evaluation encompassing workspace, singularity and force transmission, we determine design parameters and prototype mechanism design to ensure effective motions even in the presence of manufacturing errors. Finally, the prototype and experiments are conducted to validate the effectiveness of the proposed mechanism design.
一种新型可配置运动平台(3+1)自由度多环耦合机构的设计、建模与分析
提出了一种具有可配置运动平台的新型(3 + 1)自由度多环耦合机构,该机构具有同时驱动姿态调节运动和远端操作运动的能力,具有单维无限旋转和保持固定旋转中心的能力。相对于将姿态控制和操作机构串联起来的设计,该机构通过分支间的相对运动同时实现远端操作运动和姿态调节运动。这种新颖的设计将执行器置于机构的近端,解决了重心转移和布线复杂等问题。首先,结合广义并联机构的概念,介绍了该多回路耦合机构的概念设计。通过运动学分析和包括工作空间、奇异性和力传递在内的性能评估,我们确定了设计参数和原型机构设计,以确保在存在制造误差的情况下也能有效运动。最后,通过样机和实验验证了所提机构设计的有效性。
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来源期刊
Mechanism and Machine Theory
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
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