Type Synthesis and Characteristic Analysis of a Family of 2-DOF Rotational Decoupled Parallel Mechanisms

作     者：ZENG Daxing Hou Yulei HUANG Zhen LU Wenjuan 

作者机构：College of Mechanical Engineering Yanshan University 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：2009年第22卷第6期

页      面：833-840页

核心收录：

学科分类：0711[理学-系统科学] 07[理学] 08[工学] 080203[工学-机械设计及理论] 0802[工学-机械工程] 081101[工学-控制理论与控制工程] 0811[工学-控制科学与工程] 071102[理学-系统分析与集成] 081103[工学-系统工程] 

基　　金：supported by National Natural Science Foundation of China (Grant No. 50875227) 

主　　题：parallel mechanism rotational decoupled constraint screw method atlases 

摘      要：It is widely used for the rotational parallel mechanism in the field of spatial orientation. While owing to the existence of coupling, the forward kinematic solution and the control of the general rotational parallel mechanism are especially difficult. If decoupling can be realized, the kinematic analysis of the mechanism will be very simple. Presently, the research of the parallel mechanism is focused on the inverse solution and structure optimization, and there is a lack of rotation decoupled parallel mechanisms （DPMs）. So this paper proposes a family of 2 degree of freedom （DOF） rotational DPMs based on the four-bar linkage mechanism, and performs a characteristic analysis. This family of DPMs is composed of a moving platform, a fixed base and three limbs. Taking U_RRU SPU DPM as an example, the motion feature of this DPM is analyzed with the constraint screw method, and its mobility is calculated by using the Modified Kutzbach-Grtibler criterion. The inverse and forward displacement problems of the proposed parallel mechanism are solved. The decoupled feature of the proposed parallel mechanism is validated by the deduction of the expression of the Jaeobian matrix. Three kinds of singularity conditions of this DPM are discussed, and the atlases of the output parameter concerning different geometric parameters are plotted with the theory of the physical model of the solution space. The proposition and characteristic analysis of the novel rotational DPMs in this paper should be useful for further research and application of the parallel mechanisms.