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Kinematics Analysis of a New Parallel Mechanism with Complete Separation of Constraints and Drives

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Intelligent Robotics and Applications (ICIRA 2023)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 14269))

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Abstract

At present, there is a growing demand for parallel mechanisms with fewer inputs and more outputs. These mechanisms are highly sought after in industries such as aerospace, antenna, and entertainment facilities, among others. Therefore, this paper proposes a new parallel mechanism (PM) that utilizes separation of constraints and drives, resulting in centralized drive management. Thereby achieving a small amount of driving to drive multiple parallel moving platforms. For example, 3nRRS/PPPS parallel mechanism. In this study, we utilize the closed-loop vector method to obtain the inverse solution for the 3RRS/PPPS parallel mechanism. To perform a static analysis, we construct a complete Jacobian matrix for the mechanism. Under the premise of satisfying the workspace, the key dimensional parameters of the mechanism were optimized with the objective of improving the load-carrying capacity of the mechanism and minimizing the driving force. The method of complete separation of constraints and drives is easier to centrally manage drives, greatly improving energy utilization and work efficiency, and having a wide range of application scenarios in antenna, entertainment facilities, and other situations.

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Authors and Affiliations

  1. Parallel Robot and Mechatronic System Laboratory of Hebei Province, Yanshan University, Qinhuangdao, 066004, China

    Can Qiu, Yu Wang, Jiabin Wu, Xiaoyu He, Xuejian Ma, Yundou Xu & Yongsheng Zhao

  2. Key Laboratory of Advanced Forging and Stamping Technology and Science of Ministry of National Education, Yanshan University, Qinhuangdao, 066004, China

    Yundou Xu & Yongsheng Zhao

Authors
  1. Can Qiu
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  2. Yu Wang
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  3. Jiabin Wu
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  4. Xiaoyu He
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  5. Xuejian Ma
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  6. Yundou Xu
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  7. Yongsheng Zhao
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Corresponding author

Correspondence to Yundou Xu .

Editor information

Editors and Affiliations

  1. Zhejiang University, Hangzhou, China

    Huayong Yang

  2. Harbin Institute of Technology, Shenzhen, China

    Honghai Liu

  3. Zhejiang University, Hangzhou, China

    Jun Zou

  4. Huazhong University of Science and Technology, Wuhan, China

    Zhouping Yin

  5. Shenyang Institute of Automation, Shenyang, Liaoning, China

    Lianqing Liu

  6. Zhejiang University, Hangzhou, China

    Geng Yang

  7. Zhejiang University, Hangzhou, China

    Xiaoping Ouyang

  8. Harbin Institute of Technology, Shenzhen, China

    Zhiyong Wang

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Qiu, C. et al. (2023). Kinematics Analysis of a New Parallel Mechanism with Complete Separation of Constraints and Drives. In: Yang, H., et al. Intelligent Robotics and Applications. ICIRA 2023. Lecture Notes in Computer Science(), vol 14269. Springer, Singapore. https://doi.org/10.1007/978-981-99-6489-5_26

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  • DOI: https://doi.org/10.1007/978-981-99-6489-5_26

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  • Publisher Name: Springer, Singapore

  • Print ISBN: 978-981-99-6488-8

  • Online ISBN: 978-981-99-6489-5

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