Structural synthesis of 5 DoFs 3T2R parallel manipulators with prismatic actuators on the base
Structural synthesis of 5 DoFs 3T2R parallel manipulators with prismatic actuators on the base
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DOI：
10.1016/j.robot.2009.10.001
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发表时间：
2010-03
期刊：
影响因子：
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通讯作者：
B. Motevalli;H. Zohoor;S. Sohrabpour
中科院分区：
文献类型：
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作者：
B. Motevalli;H. Zohoor;S. Sohrabpour
提出了一种3平移2转动（3 T2 R）并联机构的5自由度综合方法。该方法以线性变换和几何分析为理论基础。该方法的核心是一组新颖的5自由度3 T2 R并联机构（PM）。根据分支机构的构型对生成机构进行了分类。此外，每个类的有希望的机制相对于一些标准被引入，即：(a)致动器之间的耦合度和自由度;（B）容易的运动学和控制命令;（c）容易的构造（或低成本构造）;以及（d）可制造性。根据这些标准，对有希望的机制进行了讨论。最后，为了证明腿配置的作用与机械手的特性有关，对两种引入的机构进行了运动学分析。
A method is presented to synthesize 5 degrees of freedom (DoFs) of 3 translational and 2 rotational (3T2R) parallel kinematic structures. This method is based on the theory of linear transformation and geometrical analysis. Central to this method is a set of novel 5 DoFs 3T2R parallel mechanisms (PMs). Based on the legs configuration, the generated mechanisms are classified. Moreover, the promising mechanisms of each class are introduced with respect to some criteria, i.e.: (a) degree of coupling between the actuators and degrees of freedom; (b) easy kinematics and control command; (c) easy construction (or low cost construction); and, (d) manufacturability. With reference to these criteria, some discussions are given on the promising mechanisms. Finally, to demonstrate the role of legs configuration in relation to the characteristics of a manipulator, the kinematic analysis of two of the introduced mechanisms is compared.