State of the Art of Axodes Traced by Parallel Mechanism

doi:10.3901/JME.2023.21.131

Abstract

Abstract: Screw rolling along the moving and fixed axodes is the intrinsic motion characteristic of PMs (parallel mechanisms). It is also the geometric presentation of the close coupling of rotation and translation of PMs. This close coupling motion greatly increases the difficulty of kinematic calibration and control of PMs. So, in recent years, some scholars have qualitatively described the complex motion characteristics of such PMs and optimized the mechanism design by the axode. One of them has developed the screw rolling equation between fixed and moving axodes, which can quantificationally compute the rigid motion produced by the screw rolling along the moving and fixed axodes. However, their research and application in the theory of PMs have never got much attention from domestic and foreign scholars. So, the motion characteristics of PMs are analyzed. The distribution regularity of the rotation axis and axodes of PMs, the computing method of axodes, and the derivation procedure of the screw rolling equation are reviewed. Then its application in the derivation of cycloid parameter equation is presented. Finally, the development tendency of axodes research in the theory of PMs has been prospected..

Key words: axode, parallel mechanism, proper basis screw, cylindroid, pitch-hyperboloid

CLC Number:

TH112

ZHANG Leilei, ZHAO Yanzhi, ZHAO Tieshi. State of the Art of Axodes Traced by Parallel Mechanism[J]. Journal of Mechanical Engineering, 2023, 59(21): 131-146.

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