典型文献
A Novel Method for Type Synthesis of Parallel Mechanism Without Parasitic Motion Based on 2R1T Parallel Mechanism with Rotational Bifurcation
文献摘要：
The parasitic motion has been widely recognized as the major drawback of the parallel mechanism.Therefore a class of 2R1T PMs(parallel mechanism)without parasitic motion has been synthesized.However,these PMs can only rotate around two axes in sequential order.It decreases the performance of the balancing adjustment of the end-effector.In this paper,a family of2R1T PMs without parasitic motion was reconstructed by using a novel method based on the remarkable properties of rotational bifurcation mechanisms,which can rotate in sequential order.Furthermore,some PMs rotating around two continuous axes in an arbitrary order are established by adding single joints.Taking the prac-ticability of these structures into consideration,the workspace of 3-PRPS PM was analyzed as an example.Moreover,this study explores the practical application of the PMs without parasitic motion in developing balance mechanisms in rough-terrain fire-fighting robots.During the climbing process,the tank is adjusted to be parallel to the horizontal plane in real-time.It is proved that this kind of structure realizes continuous rotation around two rotation axes on the premise of no parasitic motion.
文献关键词：
中图分类号：
作者姓名：
Jinghan Qin;Chunzhan Yu;Zhibo Sun;Lei Cao
作者机构：
School of Technology,Beijing Forestry University,Beijing 100083,China;Engineering Training Center,Beihang University,Beijing 102206,China;Capi-tal Aerospace Machinery Co.Ltd,Beijing 100621,China
文献出处：
引用格式：
[1]Jinghan Qin;Chunzhan Yu;Zhibo Sun;Lei Cao-.A Novel Method for Type Synthesis of Parallel Mechanism Without Parasitic Motion Based on 2R1T Parallel Mechanism with Rotational Bifurcation)[J].中国机械工程学报,2022(04):12-23
A类：
of2R1T,ticability,PRPS
B类：
Novel,Method,Type,Synthesis,Parallel,Mechanism,Without,Parasitic,Motion,Based,Rotational,Bifurcation,parasitic,motion,has,been,widely,recognized,major,drawback,parallel,Therefore,class,PMs,without,synthesized,However,these,can,only,rotate,around,two,axes,sequential,order,It,decreases,performance,balancing,adjustment,end,effector,In,this,paper,family,was,reconstructed,by,using,novel,method,remarkable,properties,rotational,bifurcation,mechanisms,which,Furthermore,some,rotating,continuous,arbitrary,are,established,adding,single,joints,Taking,structures,into,consideration,workspace,analyzed,example,Moreover,study,explores,practical,application,developing,balance,rough,terrain,fire,fighting,robots,During,climbing,process,tank,adjusted,horizontal,plane,proved,that,kind,realizes,premise
AB值：
0.556099
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