Abstract
Based on Lie group theory and the integration of configuration, a class of 3T2R (T denotes translation and R denotes rotation) parallel mechanisms with large output rotational angles is synthesized through a five degree of freedom single limb evolving into two five degree of freedom limbs and constraint coupling of each kinematics chain. A kind of 3T2R parallel mechanisms with large rotational angles was selected from type synthesis of 3T2R parallel mechanisms, inverse kinematics and velocity Jacobian matrix of the parallel mechanism are established. The performance indices including workspace, rotational capacity, singularity and dexterity of the parallel mechanism are analyzed. The results show that the parallel mechanism has not only large output rotational angles but also better dexterity.
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Acknowledgements
This work was supported by Fundamental Research Funds for the Central Universities (No. 2018JBZ007).
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Bing-Shan Jiang received the B. Eng. degree in mechanical electronic engineering from Liaoning Technical University, China in 2015, and the M. Eng. degree in mechanical engineering from Liaoning Technical University, China in 2017. He is currently a Ph. D. candidate in mechanical engineering at School of Mechanical, Electronic and Control Engineering, Beijing Jiaotong University, China.
His research interests include synthesis, kinematics, dynamics and control of parallel robots.
Hai-Rong Fang received the B. Eng. degree in mechanical engineering from Nanjing University of Science and Technology, China in 1990, the M. Eng. degree in mechanical engineering from Sichuan University, China in 1996, and the Ph. D. degree in mechanical engineering from Beijing Jiaotong University, China in 2005. She worked as associate professor in Department of Engineering Mechanics at Beijing Jiaotong University, China from 2003 to 2011. She is a professor in School of Mechanical Engineering from 2011 and director of Robotics Research Center.
Her research interests include parallel mechanisms, digital control, robotics and automation, machine tool equipment.
Hai-Qiang Zhang received the B. Eng. degree in mechanical design and theories from Yantai University, China in 2012, the M. Eng. degree in mechanical engineering from Hebei University of Engineering, China in 2015. He is a Ph. D. candidate in mechanical engineering at Beijing Jiaotong University, China.
His research interests include robotics in computer integrated manufacturing, parallel kinematics machine tool, redundant actuation robots, over-constrained parallel manipulators, and multi-objective optimization design.
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Jiang, BS., Fang, HR. & Zhang, HQ. Type Synthesis and Kinematics Performance Analysis of a Class of 3T2R Parallel Mechanisms with Large Output Rotational Angles. Int. J. Autom. Comput. 16, 775–785 (2019). https://doi.org/10.1007/s11633-019-1192-9
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DOI: https://doi.org/10.1007/s11633-019-1192-9