A New two -chain 2T1R parallel mechanism with zero coupling degree and its position analysis

2021 ◽  
Author(s):  
Hongbo He ◽  
Ju Li ◽  
Huiping Shen
Keyword(s):  
Parallel Mechanism ◽  
Position Analysis ◽  
Zero Coupling

scholarly journals Type Synthesis of 1T2R Parallel Mechanisms Using Structure Coupling-Reducing Method

2019 ◽  
Vol 32 (1) ◽  
Author(s):  
Haitao Liu ◽  
Ke Xu ◽  
Huiping Shen ◽  
Xianlei Shan ◽  
Tingli Yang
Keyword(s):  
Explicit Form ◽  
Parallel Mechanism ◽  
Analytic Solutions ◽  
Forward Kinematics ◽  
Parallel Mechanisms ◽  
Type Synthesis ◽  
Real Time Control ◽  
Time Control ◽  
Topological Characteristics ◽  
Zero Coupling

Abstract Direct kinematics with analytic solutions is critical to the real-time control of parallel mechanisms. Therefore, the type synthesis of a mechanism having explicit form of forward kinematics has become a topic of interest. Based on this purpose, this paper deals with the type synthesis of 1T2R parallel mechanisms by investigating the topological structure coupling-reducing of the 3UPS&UP parallel mechanism. With the aid of the theory of mechanism topology, the analysis of the topological characteristics of the 3UPS&UP parallel mechanism is presented, which shows that there are highly coupled motions and constraints amongst the limbs of the mechanism. Three methods for structure coupling-reducing of the 3UPS&UP parallel mechanism are proposed, resulting in eight new types of 1T2R parallel mechanisms with one or zero coupling degree. One obtained parallel mechanism is taken as an example to demonstrate that a mechanism with zero coupling degree has an explicit form for forward kinematics. The process of type synthesis is in the order of permutation and combination; therefore, there are no omissions. This method is also applicable to other configurations, and novel topological structures having simple forward kinematics can be obtained from an original mechanism via this method.

scholarly journals Topological Design of an Asymmetric 3-Translational Parallel Mechanism With Zero Coupling Degree and Motion Decoupling

2018 ◽  
Author(s):  
Huiping Shen ◽  
Chengqi Wu ◽  
Damien Chablat ◽  
Guanglei Wu ◽  
Ting-li Yang
Keyword(s):  
Parallel Mechanism ◽  
Design Theory ◽  
Analytical Formula ◽  
Inverse Kinematic ◽  
Topology Design ◽  
Kinematic Chains ◽  
Topological Design ◽  
Decoupled Motion ◽  
Topological Characteristics ◽  
Zero Coupling

In this paper a new asymmetric 3-translational (3T) parallel manipulator, i.e., RPa(3R) 2R+RPa, with zero coupling degree and decoupled motion is firstly proposed according to topology design theory of parallel mechanism (PM) based on position and orientation characteristics (POC) equations. The main topological characteristics such as POC, degree of freedom and coupling degree are calculated. Then, the analytical formula for the direct and inverse kinematic are directly derived since coupling degree of the PM is zero. The study of singular configurations is simple because of the independence of the kinematic chains.

scholarly journals The Effect of the Optimization Selection of Position Analysis Route on the Forward Position Solutions of Parallel Mechanisms

Robotics ◽  
2020 ◽  
Vol 9 (4) ◽  
pp. 93
Author(s):  
Huiping Shen ◽  
Qing Xu ◽  
Ju Li ◽  
Ting-li Yang
Keyword(s):  
Parallel Mechanism ◽  
Selection Criterion ◽  
Parallel Mechanisms ◽  
Position Analysis ◽  
Kinematics Modeling ◽  
Position Solution ◽  
Independent Loops ◽  
Selection Of

The forward position solution (FPS) of any complex parallel mechanism (PM) can be solved through solving in sequence all of the independent loops contained in the PM. Therefore, when solving the positions of a PM, all independent loops, especially the first loop, must be correctly selected. The optimization selection criterion of the position analysis route (PAR) proposed for the FPS is presented in this paper, which can not only make kinematics modeling and solving efficient but also make it easy to get its symbolic position solutions. Two three-translation PMs are used as the examples to illustrate the optimization selection of their PARs and obtain their symbolic position solutions.

Position Analysis in Analytical Form of the 3-PSP Mechanism

1999 ◽  
Vol 123 (1) ◽  
pp. 51-55 ◽  
Author(s):  
Raffaele Di Gregorio ◽  
Vincenzo Parenti-Castelli
Keyword(s):  
Nonlinear Equations ◽  
Parallel Mechanism ◽  
Analytical Form ◽  
Rigid Bodies ◽  
The Other ◽  
Kinematic Chains ◽  
Position Analysis ◽  
Fixed Base ◽  
Inverse Position Analysis ◽  
Movable Platform

In this paper the direct and the inverse position analysis of a 3-dof fully-parallel mechanism, known as 3-PSP mechanism, is addressed and solved in analytical form. The 3-PSP mechanism consists of two rigid bodies, one movable (platform) and the other fixed (base), connected to each other by means of three equal serial kinematic chains (legs) of type PSP, P and S standing for prismatic and spherical pair respectively. Both the direct and the inverse position analysis of this mechanism lead to nonlinear equations that are difficult to solve. In particular, the inverse position analysis comprises different subproblems which need specific solution techniques. Finally a numerical example is reported.

Motion and position analysis of 4-UPU parallel mechanism

2015 ◽  
Author(s):  
Xing-Wei Hu ◽  
Guang-Lan Xia ◽  
Bao-Lin Yin ◽  
Feng Yu ◽  
Wen-Lin Zhang
Keyword(s):  
Parallel Mechanism ◽  
Position Analysis

Position Analysis in Analytical Form of the 3-PSP Mechanism

1999 ◽  
Author(s):  
Raffaele Di Gregorio ◽  
Vincenzo Parenti-Castelli
Keyword(s):  
Parallel Mechanism ◽  
Linear Equations ◽  
Analytical Form ◽  
Rigid Bodies ◽  
Kinematic Chains ◽  
Position Analysis ◽  
Fixed Base ◽  
Inverse Position Analysis ◽  
Movable Platform ◽  
Non Linear Equations

Abstract In this paper the direct and the inverse position analysis of a 3-dof fully-parallel mechanism, known as 3-PSP mechanism, is addressed and solved in analytical form. The 3-PSP mechanism consists of two rigid bodies, one movable (platform) and the other fixed (base), connected to each other by means of three equal serial kinematic chains (legs) of type PSP, P and S standing for prismatic and spherical pair respectively. Both the direct and the inverse position analysis of this mechanism lead to non-linear equations that are difficult to solve. In particular, the inverse position analysis comprises different sub-problems which need specific solution techniques. Finally a numerical example is reported.

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