Structural Conditions of Two Types of 3-DOF Parallel Mechanisms with Zero-Torsion Characteristics

摘要：

　　The tilt-and-torsion angles are used for representations of the orientation workspace of parallel mechanisms (PMs).For the zero-torsion PMs,it needs only two angles to represent the orientation workspace.However,there are few studies about the structural conditions of zero-torsion PMs.This paper deals with the derivation of structural conditions of two types of three-degree-of-freedom (3-DOF) parallel mechanisms with zero-torsion characteristics.The PMs include a class of 3- PPS PMs and the 3-RSR one,both of which have been widely used as the orientational stages.The structural conditions of these PMs that satisfies zero-torsion characteristics have been derived from a conventional kinematics-based approach.The results indicates that the zero-torsion 3-PPS PMs have at least the characteristic of z-axial symmetry,while the zero-torsion 3-RSR PM should be mirror-symmetrical in structure.

关键词： Parallel mechanism Symmetry Zero torsion

作者: Jiexin Zou Jingjun Yu

作者单位: Robotics Institute, Beihang University, Beijing, China

会议类型: 国际会议

会议名称: 2016中国机构与机器科学国际会议

会议地点: 广州

会议语种:英文

页码: 925-935

在线出版日期: 2016-12-15（万方平台首次上网日期，不代表论文的发表时间）