New Method for Type Synthesis of 2R1T Redundant Driven Parallel Mechanisms

doi:10.3901/JME.2019.23.025

Abstract

Abstract: In the fields of milling, riveting and welding, 2R1T DOF actuators are required, especially in high stiffness, large workspace, good driving stability and other occasions, redundant actuators are required to improve the performance of 2R1T parallel mechanism. Therefore, based on Grassmann linear geometry and atlas method, a new method for typy synthesis of 2R1T redundant actuated parallel mechanism is proposed. The degree-of-freedom curve of the moving platform is obtained according to the motion mode of the mechanism, and then the constraint curve of the moving platform is obtained according to the dual rule. The redundant constraint curve and its equivalent curve were obtained by adding redundant lines to the moving platform constraint curve. According to the allocation principle of branch chain constraint, it is divided into 7 schemes. The corresponding branch chain are constructed based on the constraint scheme by using the atlas method, and the preliminary type of the mechanism is synthesized according to the selection and allocation rule of the branch chain. Each scheme synthesizes 12, 67, 96, 0, 12, 48 and 16 new types respectively, and a total of 251 new types are synthesized, including some 2R1T redundant parallel mechanisms studied in literature. The instantaneous analysis of the synthesized mechanism is carried out by the atlas method, and it is found that the synthesized mechanism of scheme 1 and scheme 2 is instantaneous. An improved method of coaxial placement with a pair of parallel force constraints in this kind of mechanism is proposed to eliminate its instantaneity. The feasibility and rationality of the synthesis method are verified by instantaneous analysis. The method is also suitable for type synthesis of redundant 4, 5 and 6 DOF parallel mechanisms.

Key words: atlas method, parallel robot, redundant actuators, type synthesis

CLC Number:

TH112

LI Yongquan, ZHANG Yang, GUO Yu, LI Xuran, ZHANG Lijie. New Method for Type Synthesis of 2R1T Redundant Driven Parallel Mechanisms[J]. Journal of Mechanical Engineering, 2019, 55(23): 25-37.

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