Abstract
Type synthesis of parallel mechanism is regarded as the theoretical basis and source for the original innovation design of mechanical devices and robots. A new method for type synthesis of the fully-decoupled two-rotational and one-translational (2R1T) parallel mechanisms with three degrees of freedom is proposed in this paper. Based on the actuation wrench screw theory, the mathematical model mapping the input and output velocity vector space of the fully-decoupled 2R1T parallel mechanism is established. The actuation wrench screws and the actuated twist screws of the corresponding branches are derived according to the mathematic model. The forms of the unactuated screws are determined in terms of the reciprocal product theory. Structural synthesis of the branch chains is realized. Then type synthesis of parallel mechanisms is completed as well and lots of novel mechanisms are obtained. Finally, a 2RUPU-PU parallel mechanism synthesized is taken as an example to analyze its mobility and kinematics. Results show that the mechanism has two-rotational and one-translational degrees of freedom and its Jacobian matrix is a diagonal matrix, i.e., it has the fully-decoupled kinematic characteristics. Therefore, the method proposed is correct and effective to synthesize the fully-decoupled 2R1T parallel mechanisms.
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Abbreviations
- T :
-
Instantaneous output velocity vector
- \({\dot q_{ji}}\) :
-
Velocity
- $ ji :
-
Instantaneous motion screw
- F i :
-
Connectivity of the branch
- n :
-
Number of branches
- v :
-
Linear velocity vector
- J dir :
-
Direct Jacobian matrix
- J inv :
-
Inverse Jacobian matrix
- α, β, y :
-
Output parameters
- J :
-
Jacobian matrix
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Acknowledgments
This work is supported by the Scientific and technological Research Project of Henan Province, China (192102210221).
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Yanbin Zhang, born in 1974, is a Professor in School of Mechatonics Engineering, Henan University of Science and Technology. He received his Ph.D. in Mechanical Engineering from Xi’an University of Technology. His research interests include parallel mechanism theory and rehabilitation robot technology.
Xuemin Wei, born in 1998, is a master student in School of Mechatonics Engineering, Henan University of Science and Technology. Her research interests include parallel mechanism theory.
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Zhang, Y., Wei, X., Zhang, S. et al. Type synthesis of the fully-decoupled two-rotational and one-translational parallel mechanism. J Mech Sci Technol 37, 6669–6678 (2023). https://doi.org/10.1007/s12206-023-1138-6
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DOI: https://doi.org/10.1007/s12206-023-1138-6