Performance analysis and comparison of three kinds of configurations for 3-R//R//C parallel mechanisms
This paper aims at studying parallel mechanisms with same link,but different topology structure and revealing the relationship between structure,kinematics and dynamics.Taking three 3-RRC parallel mechanisms as an example,firstly,calculate their coupling degree k and use vector method and one- dimensional searching method to solve the positions.Secondly,propose Pro/E-ADAMS software simulation method to solve position solution of complex parallel mechanism with k>l,without position analysis.This paper analyzes the input-output decoupling of three 3-RRC parallel mechanisms by this method.Thirdly,Jacobian algebraic method is used to solve singularity condition of three kinds of topology structures.Fourthly,Boundary searching method is used to obtain workspace of three kinds of topology structures.Fifthly,obtain dexterity value in their workspace by taking Jacobian condition number as dexterity index.At last,compare the five performance indexes of three topology structures and conclude the condition of preference.The work in this paper contributes to studying the rules among topology structure,kinematics,dynamics and performance of parallel mechanism.
Parallel mechanism Coupling degree Decoupling Singularity Workspace Dexterity
Zhen Wang Yibin Wang Ju Li Lifang Dai Qingmei Meng Huiping Shen
School of Mechanical Engineering,Changzhou University,Changzhou,Jiangsu,213016,China Jiangsu Shuang Xiang Environment Protection Technology Co.,LTD.214226 School of Mechanical Engineering,Changzhou University,Changzhou,213016,China
国际会议
天津
英文
1-8
2014-07-06（万方平台首次上网日期，不代表论文的发表时间）