Analysis of Translational Parallel Mechanism with Good Motion/force Transmissibility

doi:10.3901/JME.2016.19.018

Abstract

Abstract:

：A method solving the output twist screw and the transmission wrench under the motion of a single limb is proposed based on the screw theory. Some conditions that a mechanism requires to realize the constant power transmission and reach the best motion/force transmissibility in different poses are presented. By taking the 3-CPU translational parallel mechanism as an example, the motion/force transmissibility performance of the mechanism is analyzed. In the meanwhile, the allocation pattern of the actuated joint when a limb can transmit all its input power to the moving platform is presented. The motion/force transmissibility performance of the 3-PRPU translational parallel mechanism is analyzed, and some effects of configurations to the transmission power of a single limb are summarized. The work can make a contribution to analyzing and synthesizing parallel mechanism with good motion/force transmissibility.

Key words: screw theory, translational parallel mechanism, transmission power, motion/force transmissibility

ZHAO Yanzhi, WANG Jinglei, LI Yang, ZHAO Tieshi. Analysis of Translational Parallel Mechanism with Good Motion/force Transmissibility[J]. Journal of Mechanical Engineering, 2016, 52(19): 18-24.

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Analysis of Translational Parallel Mechanism with Good Motion/force Transmissibility

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