Type Synthesis of 2R1T Symmetrical Parallel Mechanism with Continuous Rotation Axes

doi:10.3901/JME.2017.23.074

Abstract

Abstract: To get more parallel mechanisms with continuous rotation axes (CRAs), a new synthesis method which could synthesize 2 rotations and 1 translation (2R1T) parallel mechanisms with continuous rotation axes lying on a plane is proposed. Based on screw theory, the space distribution of the constraint forces of this kind of parallel mechanism (PM) is given out. The discriminative conditions of continuous rotation axe are proposed, and the types of kinematic pairs of the branch and their spatial positions are specified. Based on the geometrical relation of the kinematic pairs of the branch and the constraint force of the branch, the principle of the moving platform's continuous rotation is explained. Using the proposed method, the symmetrical 2R1T parallel mechanisms with any line on a plane as CRA are synthesized systematically. The case analysis of the synthesized mechanism is carried out, which verified the correctness of the synthesized mechanisms. The synthesis method is simple and effective.

Key words: 2 rotations and 1 translation, continuous rotation, continuous rotation axis, parallel mechanism

CLC Number:

TH112

LI Shihua, TIAN Zhili, WANG Ziyi, HAN Xueyan. Type Synthesis of 2R1T Symmetrical Parallel Mechanism with Continuous Rotation Axes[J]. Journal of Mechanical Engineering, 2017, 53(23): 74-82.

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