Type synthesis of single-loop 3 T 1 R- parallel mechanisms with a multi-DOF drive system

被引：10
|
作者：
Li, Luquan [1 ]
Fang, Yuefa [1 ]
Wang, Lin [1 ]
机构：
[1] Beijing Jiaotong Univ, Dept Mech Engn, Beijing 100044, Peoples R China
来源：
MECHANISM AND MACHINE THEORY | 2021年 / 163卷
基金：
中国国家自然科学基金;
关键词：
Type synthesis; Single-loop parallel mechanism; Multi-dof drive system; Lie group theory; LIE GROUP; MOTION; 4-DOF; MANIPULATOR; DESIGN; 3-DOF; SET;
D O I：
10.1016/j.mechmachtheory.2021.104373
中图分类号：
TH [机械、仪表工业];
学科分类号：
0802 ;
摘要：
This paper systematically develops the type synthesis of single-loop parallel mechanisms (PMs) with three translations ( T ) along three independent directions and one rotation ( R ) around one fixed direction (3T1R-PMs). Each limb is driven by a multi-degree of freedom (DOF) drive system, and the output link can generate large rotational angle. Based on previously presented multi-DOF drive systems (DSs), a novel systematic method is proposed to synthesize single-loop 3T1R-PMs based on Lie group theory. To improve the rotation function of the single-loop 3T1R-PM, two types of connecting styles between the output link and the ends of two limbs are introduced to construct the single-loop 3T1R-PM with a full circle rotation function. A class of single-loop 3T1R-PM with two serial limbs driven by a 2-DOF driver and a class of single-loop 3T1R-PM with a hybrid limb driven by a 3-DOF DS and a serial limb driven by a 1-DOF joint are constructed. Moreover, the simulations are implemented to display large pose operation capability of two examples of presented 3T1R-PMs. (c) 2021 Elsevier Ltd. All rights reserved.
引用
收藏
页数：21
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