Design and Analysis of a Novel Heavy-Load Positioner with Series-Parallel Mechanism

Abstract:

A heavy-load positioner with series-parallel mechanism was put forward according to the heavy-load positioner’s task demand. Two rotational DOFs were realized by the spherical 3-DOF mechanism with a restricted embranchment instead of traditional gear-driven mechanism, the other by the serial part. The mechanism has the advantages of large workspace, good flexibility and high stiffness-to-weight ratio. The kinematics, statics and singularity of the positioner mechanism were analyzed. The mathematic model of the positioner mechanism was established. Combining the workspace demand of the positioner, dimension optimization of the mechanism was researched. Finally, the kinematics,statics and the singularity analysis of the positioner mechanism was verified through virtual prototype designed with one group of satisfied dimensions.

• Periodical: Applied Mechanics and Materials (Volumes 635-637)
• Pages: 145-149
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.635-637.145
• Online since: September 2014
• Authors: Yan Hua Tang*
• Keywords: Kinematics, Parallel Mechanism, Positioner, Singularity, Statics

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