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.
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