Design and Analysis of a Parallel Mechanism for Circular Spherical Translation and One-dimensional Rotation

Xiao Zihan; Shi Zhixin; Luo Yufeng; Gao Bo

doi:10.16578/j.issn.1004.2539.2023.09.008

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Design and Analysis of a Parallel Mechanism for Circular Spherical Translation and One-dimensional Rotation

Design· Calculation | 更新时间：2023-09-18

- Design and Analysis of a Parallel Mechanism for Circular Spherical Translation and One-dimensional Rotation
- Journal of Mechanical Transmission Vol. 47, Issue 9, Pages: 52-57(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.1004.2539.2023.09.008
  CLC：
- Published：15 September 2023，
  
  Received：10 July 2022，
  
  Revised：19 August 2022，
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肖子涵,石志新,罗玉峰等.一种圆球面平移和一维转动并联机构的设计与分析[J].机械传动,2023,47(09):52-57.

Xiao Zihan,Shi Zhixin,Luo Yufeng,et al.Design and Analysis of a Parallel Mechanism for Circular Spherical Translation and One-dimensional Rotation[J].Journal of Mechanical Transmission,2023,47(09):52-57.
肖子涵,石志新,罗玉峰等.一种圆球面平移和一维转动并联机构的设计与分析[J].机械传动,2023,47(09):52-57. DOI： 10.16578/j.issn.1004.2539.2023.09.008.

Xiao Zihan,Shi Zhixin,Luo Yufeng,et al.Design and Analysis of a Parallel Mechanism for Circular Spherical Translation and One-dimensional Rotation[J].Journal of Mechanical Transmission,2023,47(09):52-57. DOI： 10.16578/j.issn.1004.2539.2023.09.008.

摘要

基于方位特征集并联机构拓扑设计理论及弯曲平移理论，设计了一种新型3自由度低耦合度的具有圆球面平移和一转动（2T1R）的并联机构。对该机构进行了拓扑特性分析，主要包括方位特征集、自由度以及耦合度计算；对机构进行了运动学分析，求解机构位置的正逆解，并对该机构进行了数值验证；基于机构的位置正逆解方程，分析了机构的工作空间以及转动能力分布。本文的工作为该机构后续的尺度优化、误差分析以及动力学分析奠定了基础。

Abstract

Based on the topological design theory of a parallel mechanism with orientation feature set and bending translation theory

a new parallel mechanism with circular spherical translation and one rotation (2T1R) with 3 degrees of freedom （DOF） and low coupling is designed and topological characteristics of the mechanism are analyzed

including the orientation feature set

degrees of freedom and coupling calculation. The kinematics of the mechanism is analyzed

and the forward and inverse solutions of the position of the mechanism are solved and verified. Finally

based on the positive and negative equations of the mechanism

the workspace and the rotation capacity distribution of the mechanism are analyzed. The work in this study lays the foundation for the subsequent scale optimization

error analysis and dynamics 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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