Configuration Design of 6-DOF Parallel Mechanisms Based on Limb Construction Theory
A novel method is presented to design parallel mechanisms with six degrees of freedom (DOFs) based on limb construction theory.First,a spherical joint is used to achieve three rotational DOFs,other joints are used to realize the left three translational DOFs.Taken the number of prismatic joints as the classified rule,24 kinds of general limb structure are proposed,and we proposed the corresponding novel limbs by configuring the joint axes of the limb specially.Then,combining the obtained limbs,a class of novel 6-DOF parallel mechanisms is presented.For the purpose of simplifying the kinematics and expanding the workspace of the mechanism,the rules for the configuration of the joints and topological position of the limbs are proposed.Finally,the kinematics,dimensional and workspace analysis of the novel 3-RPPS parallel mechanism is analysed.The relationship between structure synthesis and dimensional factors that related to mechanism performance is established.
Parallel Mechanisms Configuration Design 6-DOF Dimensional Constraint Limb Structure
Zhenyao Sun Sheng Guo Haibo Qu
School of Mechanical,Electronic Control Engineering,Beijing Jiaotong University,Beijing 100044,China
国际会议
天津
英文
1-6
2014-07-06（万方平台首次上网日期，不代表论文的发表时间）