典型文献
Design and analysis of partially decoupled translational parallel mechanisms with single-loop structures
文献摘要：
This study presents a family of novel translational parallel mechanisms(TPMs)with single-loop topological structures.The proposed mechanism consists of only revolute and prismatic joints.The novel TPMs are simpler in structure and have fewer joints and components than the well-known Delta Robot.Four types of 2-degree of freedom driving systems are applied to different limb structures to avoid the moving actuator that causes the problem of increased moving mass.Four sample TPMs are constructed using the synthesized limbs,and one of them is investigated in terms of kinematic performance.First,a position analysis is performed and validated through numerical simulation to reveal the characteristics of partially decoupled motion,which improves the controllability of TPM.Second,singular configurations are identified,and the resulting singularity curve is obtained.Lastly,the workspace of TPM is analyzed,and the relationship between the singular configurations and the reachable workspace is explored.The workspace of the 3-CRR(C denotes the cylindrical joint and R denotes the revolute joint)translational mechanism is also presented to prove that the proposed TPM has a fairly large workspace.
文献关键词：
中图分类号：
作者姓名：
Lin WANG;Yuefa FANG;Dan ZHANG;Luquan LI
作者机构：
Department of Mechanical Engineering,Beijing Jiaotong University,Beijing 100044,China;Department of Mechanical Engineering,Lassonde School of Engineering,York University,Toronto,ON M3 J1P3,Canada
文献出处：
引用格式：
[1]Lin WANG;Yuefa FANG;Dan ZHANG;Luquan LI-.Design and analysis of partially decoupled translational parallel mechanisms with single-loop structures)[J].机械工程前沿,2022(03):139-153
A类：
TPMs
B类：
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AB值：
0.559707
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