Rotation Angle of Branch Helix Based on 6-U(P/H)U Mechanism

doi:10.3901/JME.2023.11.213

Abstract

Abstract: Stewart mechanism has a wide range of applications. In view of the high cost of traditional Stewart mechanism in engineering applications, a 6-U(P/H)U mechanism is proposed to replace the Stewart mechanism. According to whether the motion pair of the helical electric cylinder is a helical pair or a moving pair, and based on the UPU branch and the arrangement of the Stewart mechanism, the configuration of the 6-U(P/H)U mechanism is determined. The solution of the helix angle is the basis for the compensation of the displacement error. A method of solving the helix angle based on theoretical calculation, simulation and sensor is proposed. Firstly, the degrees of freedom of the 6-U(P/H)U mechanism and the 6-UPU mechanism are solved by the helical theory, and the pose of the 6-U(P/H)U mechanism without the branch helix angle is determined. Then, the branch helix angle of the 6-U(P/H)U mechanism is solved, and the inverse solution including the branch helix angle error is derived to calculate the actual elongation of the helical electric cylinder after considering the displacement error. The motion simulation of the 3D model of the 6-U(P/H)U mechanism was performed using ADAMS to verify the correctness of the calculation method of the helix angle. The positive solution of the mechanism is used for verification, and it is determined that the branch helix angle has little effect on the accuracy of the mechanism. Finally, a prototype of the 6-U(P/H)U mechanism was built to verify the feasibility of the mechanism. Compared with the traditional Stewart mechanism, the complexity of the electric cylinder structure in the 6-U(P/H)U mechanism is relatively low, and at the same time, the number of rotating joints of the branches is less, which makes the 6-U(P/H)U mechanism lower manufacturing cost. Therefore, in some occasions where the application accuracy is not high, the 6-U(P/H)U mechanism is an ideal alternative to the traditional Stewart mechanism.

Key words: 6-U(P/H)U mechanism, helix angle calculation, Stewart mechanism, electric cylinder drive

CLC Number:

TH122

LU Wenjuan, SUN Jinsi, FAN Zhaohui, HOU Yulei, LIU Ya, ZENG Daxing. Rotation Angle of Branch Helix Based on 6-U(P/H)U Mechanism[J]. Journal of Mechanical Engineering, 2023, 59(11): 213-220.

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http://www.cjmenet.com.cn/EN/Y2023/V59/I11/213

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