Design and Analysis of a Cylindrical Surface Translation and a Rotational Parallel Mechanism

Gao Bo; Shi Zhixin; Luo Yufeng; Lin Hao

doi:10.16578/j.issn.1004.2539.2023.06.006

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Design and Analysis of a Cylindrical Surface Translation and a Rotational Parallel Mechanism

Design· Calculation | 更新时间：2023-08-14

- Design and Analysis of a Cylindrical Surface Translation and a Rotational Parallel Mechanism
- Journal of Mechanical Transmission Vol. 47, Issue 6, Pages: 34-41(2023)
- 作者机构：
  
  1.南昌大学先进制造学院，江西南昌 330031
  2.华东交通大学，江西南昌 330013
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2023.06.006
  CLC：
- Published：15 June 2023，
  
  Received：20 April 2022，
  
  Revised：18 May 2022，
扫描看全文
高波,石志新,罗玉峰等.一种圆柱面平移和一转动并联机构的设计与分析[J].机械传动,2023,47(06):34-41.

Gao Bo,Shi Zhixin,Luo Yufeng,et al.Design and Analysis of a Cylindrical Surface Translation and a Rotational Parallel Mechanism[J].Journal of Mechanical Transmission,2023,47(06):34-41.
高波,石志新,罗玉峰等.一种圆柱面平移和一转动并联机构的设计与分析[J].机械传动,2023,47(06):34-41. DOI： 10.16578/j.issn.1004.2539.2023.06.006.

Gao Bo,Shi Zhixin,Luo Yufeng,et al.Design and Analysis of a Cylindrical Surface Translation and a Rotational Parallel Mechanism[J].Journal of Mechanical Transmission,2023,47(06):34-41. DOI： 10.16578/j.issn.1004.2539.2023.06.006.

摘要

基于方位特征集（POC集）的并联机构拓扑设计理论与方法，设计了一种新型3自由度（DOF）的具有圆柱面平移和一转动（2T1R）的并联机构，并且对该机构进行了拓扑特性分析。主要包括：方位特征集、自由度和耦合度计算；对机构进行运动学分析，求解机构位置的正逆解，并对该机构进行了数值验证；基于机构位置的正逆解方程，分析了机构的工作空间及转动能力。为该机构后续的尺度优化、误差分析及动力学分析奠定了基础。

Abstract

Based on the topology design theory and method of parallel mechanism of position and orientation characteristic (POC) theory

a new 3-DOF parallel mechanism with cylindrical translation and one rotation (2T1R) is designed

and the topological characteristics of the mechanism are analyzed

including the calculation of the position and orientation characteristic set

degrees of freedom and coupling degrees; then the kinematics of the mechanism is analyzed

the forward and inverse solutions of the position of the mechanism are solved and verified; finally

based on the forward and inverse position solutions of the mechanism

the work space and rotation capacity of the mechanism are analyzed. The work of this research lays a foundation for the subsequent scale optimization

error analysis and dynamic analysis of the mechanism.

关键词

并联机构弯曲平移运动学分析工作空间

Keywords

Parallel mechanismBending translationKinematic analysisWorkspace

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