Research on Synthesis Method of a Loop Decoupling Two-rotation Parallel Mechanism with Large Load Bearing Capacity

doi:10.3901/JME.2021.21.068

Abstract

Abstract: In order to solve the week load bearing problem of the decoupling parallel mechanism, a new structural synthesis method of two-rotation parallel mechanism with large load bearing capacity is proposed. Based on the screw theory, the parallel mechanism decoupling criterion is proposed that the reciprocal product of the branch transmission wrench screw matrix and the output twist screw matrix is a diagonal matrix (the main diagonal elements are not zero at all), and the relations among the output twist screws and the transmission wrench screws of the mechanism are analyzed. The forms of the driving screw and the non-driving screw are determined, and the above-mentioned twist screws are sorted and combined reasonably to obtain the basic decoupling branch chains. Based on the high load-carrying requirements of the vehicle durability testing platform, the redundant drive branch construction method is proposed. Redundant actuation branches are added to the basic decoupling branch chains to construct loop, realize the synchronization of position inverse solution within the same loop and construct a loop drive branches that are decoupled from each other, which can maintain the decoupling characteristics of the parallel mechanism and increase the load-bearing capacity of the parallel mechanism. The kinematic analysis and static analysis show that the Jacobian matrices the synthesized parallel mechanisms are generalized diagonal matrices and the driving displacement is synchronized in the same loop, and the bearing capacity is stronger than the traditional decoupling mechanism, which verifies the correctness of the proposed structural synthesis method. The mechanism synthesized by this method has a application prospect in automobile durability test bench.

Key words: large carrying capacity, parallel mechanism, screw theory, loop decoupling, type synthesis

CLC Number:

TH112

WANG Sen, HAN Xueyan, LI Haotian, LI Haoran, LI Shihua. Research on Synthesis Method of a Loop Decoupling Two-rotation Parallel Mechanism with Large Load Bearing Capacity[J]. Journal of Mechanical Engineering, 2021, 57(21): 68-77.

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