New 3T1R Parallel Manipulator 2-(RPa3R)3R with Zero Coupling Degree and Partial Decoupling: Design and Kinematics

doi:10.3901/JME.2019.05.053

Abstract

Abstract: A parallel manipulator (PM) with three-translation and one-rotation (3T1R) output, possessing zero coupling degree and partial input-output motion decoupling (I-O decoupling), can not only make the analyses of kinematics and dynamics simple, but also simplify the motion control and path planning. These PMs have potential applications in the manufacturing. A new 3T1R PM with zero coupling degree and partial motion-decoupling is designed, i.e., 2-(RPa3R)3R, according to the design theory for parallel mechanism topology based on position and orientation characteristics (POC) equation. The key topological properties such as POC, degrees of freedom DOF, coupling degree κ are analyzed. The closed-form direct position algebraic equations of the PM are derived by using the modeling principle based on the ordered single-open-chain(SOC) proposed in an earlier work, and the solutions for direct position of this PM are solved. In addition, the geometrical conditions of three types of singularity are analyzed based on the inverse kinematics derived, and the workspace, rotation ability and singularity of this PM are also derived. The CAD model of mechanical design for the prototype of the PM are finished. All of this work lays the foundation for dimension optimization, prototype design and dynamics research of the new PM.

Key words: 3T1R, coupling degree, motion decoupling, parallel mechanism, rotation ability, singularity, workspace

CLC Number:

TH112

SHEN Huiping, XU Ke, YANG Tingli, DENG Jiaming. New 3T1R Parallel Manipulator 2-(RPa3R)3R with Zero Coupling Degree and Partial Decoupling: Design and Kinematics[J]. Journal of Mechanical Engineering, 2019, 55(5): 53-64.

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