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Zhen Wu,Xinxue Chai,Wei Ye 대한기계학회 2023 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.37 No.10
This paper proposes a new 2R1T PRS-PRU-PUR overconstrained parallel mechanism (PM). Firstly, the kinematics and stiffness are studied based on screw theory and strain energy. Compared with a typical 3-PRS PM, the main advantage of the proposed PRSPRU-PUR PM is that the orientational range β is improved by 50 %. Secondly, the original PM’s kinematic and stiffness performance are evaluated by using the global transmission index and stiffness index, which are 0.675 and 594 respectively, which causes the decrease of the efficiency of some configurations. Finally, the design parameters are optimized to enhance the PM’s kinematic and stiffness performance. The corresponding optimized indices were increased to 0.915 and 2171, respectively, confirming the validity of the optimal design method.