ACTA AERONAUTICAET ASTRONAUTICA SINICA >
Structural synthesis method of fully decoupled 3T2R parallel robotic manipulators
Received date: 2015-06-25
Revised date: 2015-08-28
Online published: 2015-09-02
Supported by
Nation Natural Science Foundation of China (50905075);Open Project of State Key Laboratory of Mechanical System and Vibration of china (MSV201407);Open Project of Jiangsu Key Laboratory of Advanced Food Manufacturing Equipment and Technology (FM-201402);Research and Innovation Project for College Graduates of Jiangsu Province (KYLX-1115)
To avoid the difficulties in the kinematics and dynamic analysis brought by the existence of coupling in the parallel mechanism, a very simple yet effective structural design is proposed about three-translational and two-rotational (3T2R) parallel robotic manipulators based on GF set. The GF set theory for type synthesis of parallel mechanisms is firstly introduced. Secondly, according to union arithmetic of GF set and rotational motion planet theorem, the selection criterion of the input pair and type synthesis principle of decoupled branches are given. Following the type synthesis step, the structural synthesis of each kinematic chain for fully decoupled 3T2R parallel mechanism is performed, and specific process for structural synthesis of 3T2R five degrees of freedom decoupled parallel mechanism which include sole and double motivation kinematic chain is finished. Simultaneously, a lot of new mechanisms are attained. Finally, constraint screw is applied to analyzing kinematic characteristic of a parallel mechanism synthesized above. The expression of the Jacobian matrix is deduced which validates the decoupling feature of the mechanism. In addition it demonstrates the effectiveness of the novel method of structural synthesis for parallel mechanisms. The research provides a reference and possesses significant theoretical meanings for the synthesis and development of the novel decoupled parallel mechanisms.
Key words： parallel mechanism; structural design; GF set; fully decoupled; Jacobian matrix
QIN Youlei , CAO Yi , CHEN Hai , GE Shuyi , ZHOU Hui . Structural synthesis method of fully decoupled 3T2R parallel robotic manipulators[J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2016 , 37(6) : 1983 -1991 . DOI: 10.7527/S1000-6893.2015.0238
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