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首页> 外文期刊>International journal of mechanics and materials in design >Kinematic and dynamic analysis of a 3-DOF parallel mechanism
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Kinematic and dynamic analysis of a 3-DOF parallel mechanism

机译：三自由度平行机构的运动和动态分析

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This paper presents a three Degrees of Freedom (DOFs) parallel manipulator with no rotational capacity. Planar kinematic pairs (revolute joint and prismatic joint) are exclusively employed in this parallel structure. The parallelogram joint in each kinematic chain assists to ensure the moving platform's orientation is constant throughout the reachable workspace. Unlike the general parallel mechanisms, three identical kinematic limbs are degenerated to two kinematic limbs through merging two passive prismatic joints with same movement. Three active sliding joints are still required to drive this special parallel structure. Its mobility characteristic is firstly studied in detail and all possible singularity configurations are discussed by means of screw theory. The Lagrangian formulation is employed to compute the mathematical model of the inverse dynamic problem. The reachable workspace is obtained based on the inverse kinematic solutions. The distributions of the maximum joint force effect and maximum joint velocity effect are conducted. An example is provided to illustrate their trends under preset motion of the mobile platform.
机译：本文介绍了三度自由（DOF）并联机械手，没有旋转能力。平面运动对（旋转关节和棱柱形接头）专门用于这种并联结构。每个运动链中的平行四边形接头有助于确保在整个可达工作空间中移动平台的方向是恒定的。与一般的并联机制不同，通过合并具有相同运动的两个被动棱镜关节来改变三个相同的运动肢体至两个运动肢。仍然需要三个有效的滑动接头来驱动这种特殊的平行结构。首先详细研究其迁移性特性，并且通过螺杆理论讨论了所有可能的奇点配置。利用拉格朗日配方来计算逆动态问题的数学模型。可达工作区基于反向运动溶液获得。进行最大关节效应和最大关节速度效应的分布。提供了一个示例以说明其在移动平台的预设运动下的趋势。

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