Design and Kinematics Performance Analysis of an Equivalent 3-P<italic style="font-style: italic"><sub>z</sub></italic>P<italic style="font-style: italic"><sub>x</sub></italic>S Parallel Mechanism

Yeping Lü; Yong Xu; Wei Liang Song; Zheng Liang; Yong Liu

doi:10.16578/j.issn.1004.2539.2020.01.012

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Design and Kinematics Performance Analysis of an Equivalent 3-P_zP_xS Parallel Mechanism

Design· Calculation | 更新时间：2022-11-10

- Design and Kinematics Performance Analysis of an Equivalent 3-P_zP_xS Parallel Mechanism
- Journal of Mechanical Transmission Vol. 44, Issue 1, Pages: 72-78(2020)
- 作者机构：
  
  1.上海工程技术大学机械与汽车工程学院，上海 201600
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2020.01.012
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吕叶萍,许勇,宋伟等.一种等效3-P_zP_xS并联机构设计与运动学性能分析[J].机械传动,2020,44(01):72-78.

Yong Lü Yeping Xu Yong Song Wei Liang Zheng Liu.Design and Kinematics Performance Analysis of an Equivalent 3-P_zP_xS Parallel Mechanism[J].Journal of Mechanical Transmission,2020,44(01):72-78.
吕叶萍,许勇,宋伟等.一种等效3-P_zP_xS并联机构设计与运动学性能分析[J].机械传动,2020,44(01):72-78. DOI： 10.16578/j.issn.1004.2539.2020.01.012.

Yong Lü Yeping Xu Yong Song Wei Liang Zheng Liu.Design and Kinematics Performance Analysis of an Equivalent 3-P_zP_xS Parallel Mechanism[J].Journal of Mechanical Transmission,2020,44(01):72-78. DOI： 10.16578/j.issn.1004.2539.2020.01.012.

摘要

针对多轴联动混联加工平台的构型创新需求，综合出一种支链中含平面缩放结构单元的新型2R1T并联机构——3-P,z,P,x,S。提出并优选了支链构型，验证了机构自由度；推导获得了机构位置正逆解析解，便于后续的运动规划及控制；基于机构雅可比矩阵，确定了机构发生正运动学奇异的位形参数条件；采用边界搜索法获得机构可达工作空间后，确定机构具有大的转动能力。相关成果为混联高效数控加工中心的研究奠定了理论基础。

Abstract

In order to meet the requirements of the configuration innovation of the multi-axis linkage processing platform， a new type of 2R1T 3-P,z,P,x,S parallel mechanism is synthesized， which contains a planar pantograph structure unit in the branching chain. The branch chain configuration is proposed and optimized to verify the degree of freedom of the mechanism. The forward and inverse analytical solutions of the mechanism position are derived and obtained， which is convenient for subsequent motion planning and control. Based on the Jacobian matrix of mechanism， the parameter conditions resulting in positive kinematic singularities are confirmed. After obtaining the workspace of the mechanism by using the boundary search method， it is determined that the mechanism has a large rotational capacity. The related results lay a theoretical foundation for the research of high efficiency NC machining center.

关键词

缩放结构单元 2T1R运动运动学分析奇异性

Keywords

Pantograph structural unit2T1R motionKinematics analysisSingularity

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Design and Kinematics Performance Analysis of an Equivalent 3-PzPxS Parallel Mechanism

DOI：10.16578/j.issn.1004.2539.2020.01.012

摘要

Abstract

关键词

Keywords

references

Design and Kinematics Performance Analysis of an Equivalent 3-P_zP_xS Parallel Mechanism