Research on Synthesis Method of Novel Parallel Mechanisms with Equivalent Motion to Serial-parallel Mechanism

doi:10.3901/JME.2021.01.001

Abstract

Abstract: In order to simplify the structure of the serial-parallel mechanisms and make this kind of mechanisms better applied, a novel kind of parallel mechanisms with equivalent kinematics to serial-parallel mechanisms are proposed. The difference is that two parallel mechanisms are directly connected through corresponding branches or indirectly connected through the common kinematic pairs of corresponding branches to form an integral mechanism with no intermediate platform. Based on screw theory, a new synthesis method for this kind of novel mechanisms is proposed, the synthesis conditions are given and the synthesis process is formulated. With this method, new six degrees of freedom (6-DOF) parallel mechanisms with equivalent kinematics to serial-parallel mechanisms composed of 3-DOF rotational mechanisms and 3-DOF translational mechanisms are synthesized. Some new mechanisms have been synthesized, which enriches the parallel mechanism configurations. The new 6-DOF parallel mechanisms have simple and compact structure. The constraint force analysis indicates that there exists no statically indeterminate problem in the spherical 3-DOF rotational mechanism. The synthesized 6-DOF parallel mechanisms have potential application to pointing and vibration isolation platform for the advantages of structure and analysis.

Key words: serial-parallel mechanism, equivalent motion characteristic, screw theory, synthesis method, novel 6-DOF parallel mechanisms

CLC Number:

TH112

SUN Jing, SHAN Yanxia, ZHANG Jianwei, SHAO Lei, LI Shihua. Research on Synthesis Method of Novel Parallel Mechanisms with Equivalent Motion to Serial-parallel Mechanism[J]. Journal of Mechanical Engineering, 2021, 57(1): 1-7.

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