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A Novel Method for Type Synthesis of Parallel Mechanism Without parasitic motion Based on 2R1T Parallel Mechanism with Rotational Bifurcation

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Chinese Journal of Mechanical Engineering 2022年第4期35卷 191-202页

作者： Jinghan Qin Chunzhan Yu Zhibo Sun Lei Cao School of Technology Beijing Forestry UniversityBeijing 100083China Engineering Training Center Beihang UniversityBeijing 102206China Capital Aerospace Machinery Co.Ltd Beijing 100621China

The parasitic motion has been widely recognized as the major drawback of the parallel *** a class of 2R1T PMs(parallel mechanism)without parasitic motion has been ***,these PMs can only rotate around two axes in sequential *** decreases the performance of the balancing adjustment of the *** this paper,a family of 2R1T PMs without parasitic motion was reconstructed by using a novel method based on the remarkable properties of rotational bifurcation mechanisms,which can rotate in sequential ***,some PMs rotating around two continuous axes in an arbitrary order are established by adding single *** the practicability of these structures into consideration,the workspace of 3-PRPS PM was analyzed as an ***,this study explores the practical application of the PMs without parasitic motion in developing balance mechanisms in rough-terrain fre-fghting *** the climbing process,the tank is adjusted to be parallel to the horizontal plane in *** is proved that this kind of structure realizes continuous rotation around two rotation axes on the premise of no parasitic motion.

关键词： Parallel mechanism Rotational bifurcation parasitic motion Type synthesis Balance mechanism

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parasitic motion Based Optimal Design of Parallel Manipulators

Parasitic Motion Based Optimal Design of Parallel Manipulato...

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第15届中国系统仿真技术及其应用学术会议（15th CCSSTA2014）

作者： Zhang Song-zhen Lou Yun-jiang Liao Bin Key Lab for Advanced motion Control Technology and Modern Automation Equipments Harbin Institute of Technology Shenzhen Graduate School

parasitic motion is widely believed a drawback of lower mobility parallel *** researchers tried to eliminate or reduce it by kinematic optimization or by special architectural ***,the parasitic motion enables the implementation of a higher degrees-of-freedom(DoF)motion task with a lower DoF parallel manipulator to a certain *** contrast to the traditional elimination of parasitic motion,in this paper we first propose to take advantage of parasitic motion/By the example of planar five-bar parallel manipulator,we demonstrate to maximize the parasitic rotation so that it is able to accomplish planar manipulation of workpieces with their orientations in a given *** new design concept will lead to lower cost,lower complexity of kinematics and control.

关键词： Parallel Manipulator parasitic motion Optimal Design

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Design Principle of High-precision Flexure Mechanisms Based on parasitic-motion Compensation

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Chinese Journal of Mechanical Engineering 2014年第4期27卷 663-672页

作者： LI Shouzhong YU Jingjun School of Mechanical Engineering University of Science and Technology Beijing Robotics Institute Beihang University

In design of flexure mechanism, diminishing the parasitic-motion is a key point to improve the accuracy. However, most of existing topics concentrate on improving the accuracy of linear-motion flexure mechanisms via compensating the parasitic error, but few research the multi-dimensional flexure mechanisms. A general design principle and method for high-precision flexure mechanisms based on the parasitic-motion compensation is presented, and the proposed method can compensate the parasitic rotation in company with translation, or the parasitic translation in company with rotation, or both. The crucial step for the method is that the parasitic motion of a flexure mechanism is formulated and evaluated in terms of its compliance. The overall compliance matrix of a general flexure mechanism is formulated by using screw theory firstly, then the criteria for the parasitic motions is introduced by analyzing the characteristics of the resultant compliance matrix as well as with aid of the concept of instantaneous rotation center. Subsequently, a compliance-based compensation approach for reducing parasitic-motion is addressed as the most important part. The design principles and procedure are further discussed to help with improving the accuracy of flexure mechanisms, and case studies are provided to illustrate this method. Finally, an analytical verification is provided to demonstrate that the symmetry design philosophy widely used in flexure design can effectively improve accuracy in terms of the proposed method. The proposed compensation method can be well used to diminish the parasitic-motion of multi-dimensional flexure mechanisms.

关键词： flexure mechanism compliance matrix parasitic motion compensation

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;ast forward kinematics algorithm for real-time and ligh-precision control of the 3-RPS parallel mechanism

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Frontiers of Mechanical Engineering 2018年第3期13卷 368-375页

作者： Yue WANG Jingjun YU Xu PEI Robotics Institute Beihang University Beijing 100191 China Department of Mechanical Design Beihang University Beijing 100191 China

A new forward kinematics algorithm for the mechanism of 3-RPS （R： Revolute; P： Prismatic; S： Spherical） parallel manipulators is proposed in this study. This algorithm is primarily based on the special geometric conditions of the 3-RPS parallel mechanism, and it eliminates the errors produced by parasitic motions to improve and ensure accuracy. Specifically, the errors can be less than 10 6. In this method, only the group of solutions that is consistent with the actual situation of the platform is obtained rapidly. This algorithm substantially improves calculation efficiency because the selected initial values are reasonable, and all the formulas in the calculation are analytical. This novel forward kinematics algorithm is well suited for real-time and high-precision control of the 3-RPS parallel mechanism.

关键词： 3-RPS parallel mechanism forward kinematics numerical algorithm parasitic motion

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