Kinematics Modeling and Performance Evaluation of R(RPS&RP)&2-UPS Parallel Mechanism

doi:10.3901/JME.2024.24.330

Abstract

Abstract: The kinematics modeling and performance evaluation method of R(RPS&RP)&2-UPS parallel mechanism for a new five-degree-of-freedom hybrid robot are studied, the mechanism is composed of a 1T2R (T means translation, R means rotation) spatial hybrid kinematic chain and two spatial unconstrained active branch chains. Based on the position analytic solutions and geometric constraints, a parameterized model of the workspace is established and the index of task space/mechanism volume ratio was proposed. The decoupling Jacobian matrix of the mechanism is established by the vector method, and the mapping relationship between the end velocity of the parallel mechanism and the velocity of the driving joint are obtained, with the help of matrix theory, a set of kinematic performance evaluation indexes that can measure the tangential and normal velocity transfer characteristics of such mechanisms were proposed; On this basis, the influence of scale parameters on the global kinematic performance of the mechanism and the index of the task space/mechanism volume ratio are studied, and the feasible region of the scale parameters of the mechanism is obtained with the constraints of kinematic performance and geometric interference. Finally, it is verified by comparative analysis that the proposed R(RPS&RP)&2-UPS parallel mechanism has similar kinematic performance with the parallel mechanisms of the famous Tricept robot and TriMule robot, indicating that the R(RPS&RP)&2-UPS parallel mechanism has excellent application prospects.

Key words: parallel mechanism, kinematic modeling, performance evaluation

CLC Number:

TP24

WANG Manxin, LI Zhengliang, WANG Minghao. Kinematics Modeling and Performance Evaluation of R(RPS&RP)&2-UPS Parallel Mechanism[J]. Journal of Mechanical Engineering, 2024, 60(24): 330-339.

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