A New Type of Closed-loop Limb Redundant Parallel Mechanism

Caiyou Qin; Juan Huang; Xiaoru Li

doi:10.16578/j.issn.1004.2539.2019.07.016

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A New Type of Closed-loop Limb Redundant Parallel Mechanism

Design· Calculation | 更新时间：2022-09-24

- A New Type of Closed-loop Limb Redundant Parallel Mechanism
- Journal of Mechanical Transmission Vol. 43, Issue 7, Pages: 84-90(2019)
- 作者机构：
  
  1.四川省高温合金切削工艺技术工程实验室，四川德阳 618000
  2.四川工程职业技术学院机电工程系，四川德阳 618000
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2019.07.016
  CLC：
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覃才友,黄娟,李小汝.一种新型闭环支链冗余并联机构[J].机械传动,2019,43(07):84-90.

Qin Caiyou,Huang Juan,Li Xiaoru.A New Type of Closed-loop Limb Redundant Parallel Mechanism[J].Journal of Mechanical Transmission,2019,43(07):84-90.
覃才友,黄娟,李小汝.一种新型闭环支链冗余并联机构[J].机械传动,2019,43(07):84-90. DOI： 10.16578/j.issn.1004.2539.2019.07.016.

Qin Caiyou,Huang Juan,Li Xiaoru.A New Type of Closed-loop Limb Redundant Parallel Mechanism[J].Journal of Mechanical Transmission,2019,43(07):84-90. DOI： 10.16578/j.issn.1004.2539.2019.07.016.

摘要

冗余驱动并联机构因具有更好的刚度和良好的力操作性，已越来越多应用于实际生产中。基于3-RPS并联机构，提出一种支链为五杆闭环结构的冗余型并联机构；通过对闭环支链结构和运动的分析，结合数学推导和Matlab，进一步分析了机构整体运动学性能；并根据运动学结果，分别对比引入冗余支链和未引入冗余支链下机构的工作空间情况。结果表明，引入冗余支链会使机构工作空间有所减小，总体减小量达20%左右，但由于机构刚度增加，在满足工作空间条件下，该机构依旧具有明显优势，也为今后冗余驱动并联机构的研究提供了一种新的构型和理论依据。

Abstract

Redundantly driven parallel mechanisms have been increasingly used in practical production because of their greater stiffness and force maneuverability. Based on 3-RPS parallel mechanism，a redundant parallel mechanism with five-bar closed-loop structure limbs is proposed. Through the analysis of the structure and movement of closed-loop limbs，combined with mathematical derivation and Matlab，the overall kinematics performance of the mechanism is analyzed. According to the results of kinematics，compare the workspace situation of the mechanism with the redundant limbs and without the redundant limbs. The results show that the redundant limbs will reduce the workspace of the mechanism，and the overall reduction is about 20%. However，due to the increased stiffness of the mechanism， the mechanism still has obvious advantages within the scope of work， and it also provides a new configuration and theoretical basis for the research of redundantly driven parallel mechanisms in the future.

关键词

冗余驱动闭环支链并联机构工作空间

Keywords

Redundantly drivenClosed-loop limbParallel mechanismWorkspace

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