Workspace Analysis of New Type Parallel Mechanism with Serial Input

Abstract:

A new 4 DOF parallel mechanism with serial input limb is presented ——2UPS-RPU parallel mechanism, the limb with serial input is a less contrained active branched-chain,the number of its DOF is less than six,that is to say,the limbs not only transmitting driving force but also constraint force at the same time.Compared with traditional parallel mechanisms,the mechanism with serial input has greater number of DOF than the number of limbs and don’t lose the property of parallel mechanism. The inverse solutions to positions of the mechanism are modeled by inverse kinematic analysis in this paper, then the constraint conditions are established according to factors influencing the workspace of parallel mechanism,such as the limits of the hinge angle and the parallel link length.The workspace of 2UPS-RPU parallel mechanism can be obtained by using exetreme-boundary numerical algorithm in Matlab,the volume of workspace can be quantified by means of computation,and analyzing the impact of rod length ,circumradius of moving and fixed platform and motion pair rotation angle on the workspace.

• Periodical: Advanced Materials Research (Volumes 308-310)
• Pages: 2114-2119
• DOI: https://doi.org/10.4028/www.scientific.net/AMR.308-310.2114
• Online since: August 2011
• Authors: Peng Lin Jing, Zhi You Feng
• Keywords: Extreme Boundary Numerical Algorithm, Inverse Solutions to Positions, Parallel Mechanism, Serial Input

References

[1] Jae Heon Chung, Byung-Ju Yi, Member IEEE, and Sung Oh.IEEE Conference on Intelligent Robots and Systems,2007,pp.3999-4006.

DOI: 10.1109/iros.2007.4399000

[2] J-P. Merlet, D. Daney.IEEE International Conference on Robotics and Automation,2005,pp.943-947.

[3] Zhiyou Feng. Research on Parallel Manipulator Theory Based on Single Opened Chain[D], Tianjin: Tianjin University.(2006)

[4] Jing Chen,Qiang Liu. Machine Design.Vol. 23(2008),p:21-24

[5] Qingchuan Li,Xiaodong Sun,Qiaohong Chen,Chuanyu Wu.Journal of Mechanical Engineering. Vol.47(2011),p:21-27

[6] Gosselin CM.Journal of Mechanical Design,1990,112(3):331-336

[7] Marcoc C,Massimo S.The international Journal of Robotics Research,1998,17(8):886-902.

[8] Jiangqing Zhou,Caian Fu. Design and Research.2008(1):23-26