Mode Analysis of Degree of Freedom of a New Bifurcation Parallel Mechanism

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

doi:10.16578/j.issn.1004.2539.2020.04.007

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Mode Analysis of Degree of Freedom of a New Bifurcation Parallel Mechanism

Theory·Reserach | 更新时间：2022-10-20

- Mode Analysis of Degree of Freedom of a New Bifurcation Parallel Mechanism
- Journal of Mechanical Transmission Vol. 44, Issue 4, Pages: 45-53(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 201620
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2020.04.007
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宋伟,许勇,刘勇等.一种新型分岔并联机构的多自由度模式分析[J].机械传动,2020,44(04):45-53.

Song Wei Xu Yong Liu Yong Lü Yeping Liang Zheng.Mode Analysis of Degree of Freedom of a New Bifurcation Parallel Mechanism[J].Journal of Mechanical Transmission,2020,44(04):45-53.
宋伟,许勇,刘勇等.一种新型分岔并联机构的多自由度模式分析[J].机械传动,2020,44(04):45-53. DOI： 10.16578/j.issn.1004.2539.2020.04.007.

Song Wei Xu Yong Liu Yong Lü Yeping Liang Zheng.Mode Analysis of Degree of Freedom of a New Bifurcation Parallel Mechanism[J].Journal of Mechanical Transmission,2020,44(04):45-53. DOI： 10.16578/j.issn.1004.2539.2020.04.007.

摘要

提出一种全新的分岔单环闭链构型URRC，这种单环闭链具有两种自由度模式。将串联支链PRRP与分岔单环闭链组合成混联支链，利用3条混联支链连接动平台和定平台，得到了一种分岔并联机构。通过对单环闭链不同模式的组合，得到3T3R、3T、2R1TⅠ、2R1TⅡ、1R2T共5种自由度模式的并联机构，并用螺旋理论分析证明了分岔并联机构具有的5种自由度模式的正确性和驱动选取的合理性。

Abstract

A new bifurcated single-loop closed-chain configuration URRC is proposed.This single-loop closed-chain has two degrees of freedom modes.A bifurcated parallel mechanism is obtained by combining series branch PRRP with bifurcated single-loop closed chain to form a hybrid branch chain and connecting the moving platform and fixed platform with three parallel branches.Through the combination of different modes of single-loop closed-chain，the parallel mechanisms of 3T3R，3T，2R1TⅠ，2R1TⅡ and 1R2T with five DOF modes are obtained.The correctness of the five DOF modes of the bifurcated parallel mechanism and the rationality of driving selection are proved by screw theory analysis.

关键词

分岔单环闭链混联螺旋理论

Keywords

BifurcationSingle-loop closed chainHybridScrew theory

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