Analysis and Design Method for Non-uniform Parallel Mechanism Structure of Dynamic/Static Platform

doi:10.3901/JME.2023.17.116

Abstract

Abstract: Aiming at the design requirements of non-uniform parallel mechanism of moving/static platform, a configuration design method based on dimension synthesis is proposed. The limb of target degree of freedom parallel mechanism is constructed according to topology design theory. The number and type of platform joint points are determined, the mechanism is preliminarily designed and the degree of freedom of the moving platform is checked. Taking a five-degree-of-freedom dynamic/static platform non-uniform parallel mechanism as an example, the first dimension synthesis is used to improve the dimension parameters of the mechanism, and the preliminary model of the mechanism is established. The redundant limb and the angular limb are defined, and the position of the redundant limb is improved by the secondary dimension synthesis. The calculation of all the dimension parameters of the mechanism is completed, and the overall model of the mechanism is given. The reference analysis of the local transmission index map of Stewart mechanism with similar size and similar workspace is carried out, which shows that the mechanism has good motion/force transmission performance, and verifies the correctness and feasibility of the proposed configuration design method of parallel mechanism.

Key words: screw theory, topology design, dimensional synthesis, performance index

CLC Number:

TH112

LI Haihong, DONG Jinan, GUO Shanguo, LIU Zhiqi. Analysis and Design Method for Non-uniform Parallel Mechanism Structure of Dynamic/Static Platform[J]. Journal of Mechanical Engineering, 2023, 59(17): 116-125.

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