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Type synthesis of the fully-decoupled two-rotational and one-translational parallel mechanism
Yanbin Zhang,Xuemin Wei,Shuang Zhang,Zhenzhen Chang,Yaoguang Li 대한기계학회 2023 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.37 No.12
Type synthesis of parallel mechanism is regarded as the theoretical basis and source for the original innovation design of mechanical devices and robots. A new method for type synthesis of the fully-decoupled two-rotational and one-translational (2R1T) parallel mechanisms with three degrees of freedom is proposed in this paper. Based on the actuation wrench screw theory, the mathematical model mapping the input and output velocity vector space of the fully-decoupled 2R1T parallel mechanism is established. The actuation wrench screws and the actuated twist screws of the corresponding branches are derived according to the mathematic model. The forms of the unactuated screws are determined in terms of the reciprocal product theory. Structural synthesis of the branch chains is realized. Then type synthesis of parallel mechanisms is completed as well and lots of novel mechanisms are obtained. Finally, a 2RUPU-PU parallel mechanism synthesized is taken as an example to analyze its mobility and kinematics. Results show that the mechanism has two-rotational and onetranslational degrees of freedom and its Jacobian matrix is a diagonal matrix, i.e., it has the fully-decoupled kinematic characteristics. Therefore, the method proposed is correct and effective to synthesize the fully-decoupled 2R1T parallel mechanisms.
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