Synthesis of Branched Chains with Actuation Redundancy for Eliminating Interior Singularities of 3T1R Parallel Mechanisms

作     者：LI Shihua LIU Yanmin CUI Hongliu NIU Yunzhan ZHAO Yanzhi 

作者机构：Hebei Provincial Key Laboratory of Parallel Robot and Mechatronic System Yanshan University Qinhuangdao 066004 China Hebei Vocationa & Technical College of Building Materials Qinhuangdao 066004 China 

出 版 物：《Chinese Journal of Mechanical Engineering》 (中国机械工程学报（英文版）)

年 卷 期：2016年第29卷第2期

页      面：250-259页

核心收录：

学科分类：08[工学] 080203[工学-机械设计及理论] 0802[工学-机械工程] 

基　　金：Supported by Research Fund for the Doctoral Program of Higher Education China(Grant No.20131333110008) 

主　　题：parallel mechanism interior singularity hybrid screw group branched chain with actuation redundancy 

摘      要：Although it is common to eliminate the singularity of parallel mechanism by adding the branched chain with actuation redundancy, there is no theory and method for the configuration synthesis of the branched chain with actuation redundancy in parallel mechanism. Branched chains with actuation redundancy are synthesized for eliminating interior singularity of 3-translational and 1-rotational（3T1R） parallel mechanisms. Guided by the discriminance method of hybrid screw group according to Grassmann line geometry, all the possibilities are listed for the occurrence of interior singularities in 3T1R parallel mechanism. Based on the linear relevance of screw system and the principles of eliminating parallel mechanism singularity with actuation redundancy, different types of branched chains with actuation redundancy are synthesized systematically to indicate the layout and the number of the branched chainsinterior with actuation redundancy. A general method is proposed for the configuration synthesis of the branched chains with actuation redundancy of the redundant parallel mechanism, and it builds a solid foundation for the subsequent performance optimization of the redundant actuation parallel mechanism.