Design and analysis of a partially decoupled generalized parallel mechanism for 3T1R motion
作者： Chunxu Tian , Yuefa Fang , QJ Ge , None
DOI: 10.1016/J.MECHMACHTHEORY.2019.06.001
关键词:
摘要: Abstract Compared with conventional parallel manipulators serial kinematic chains supporting a nonflexible platform, generalized mechanisms may be further constrained by interconnected coupling sub-chains or configurable platforms. The additional and platforms have the potential advantages of improving overall characteristics executing specific output motions. Based on applications, this paper proposes symmetric mechanism so-called Schonflies motion. This can generate three independent translations in conjunction partially decoupled rotation which refers to given direction. To improve dynamic performance, all actuators are installed fixed platform. starts number synthesis loops that derive possible non-isomorphic contracted graphs 3T1R mechanism. threefold-symmetric Bricard linkage is introduced into Besides, several novel various motion patterns provided. analysis proposed architecture established. evaluation workspace conducted. Finally, study Jacobian matrix performed singularity including constraint analyzed.
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