Design of a novel 3-DoF parallel kinematic mechanism: type synthesis and kinematic optimization
Design of a novel 3-DoF parallel kinematic mechanism: type synthesis and kinematic optimization
复制标题
新型三自由度并联运动机构的设计：类型综合和运动学优化
DOI：
10.1017/s0263574714000551
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发表时间：
2015-03-01
期刊：
影响因子：
2.7
通讯作者：
Wang, Chao
中科院分区：
文献类型：
--
作者：
Xie, Fugui;Liu, Xin-Jun;Wang, Chao
本文研究了一种具有高定向能力的三自由度并联运动机构的设计。首先，提出了一种基于Grassmann线几何和线形法的类型综合方法，并在此基础上推导出一种新型的三自由度PKM。然后，在两种不同的姿态描述方法下，即倾斜和扭转角（T&T角）和滚摇-俯仰-偏角（RPY角）下，识别了衍生机构的寄生运动，并考虑运动/力传递率进行了运动学优化。在此基础上，研究了所讨论机构的定向能力，并证明了其高定向能力。本文所设计的三自由度PKM对混合结构五轴机床的开发具有重要意义。类型综合和运动优化的设计方法也可用于其它pkm的设计。
SUMMARY This paper deals with the design of a three-degree-of-freedom (3-DoF) parallel kinematic mechanism (PKM) with high orientational capability. First, a type synthesis method based on Grassmann line geometry and a line-graph method is proposed, and a novel 3-DoF PKM is derived based on this method. Thereafter, the parasitic motions of the derived mechanism are identified under two different orientation description methods, i.e., Tilt-and-Torsion angles (T&T angles) and Roll-Pitch-Yaw angles (RPY angles), and the kinematic optimization considering the motion/force transmissibility is carried out. On this basis, the orientational capability of the discussed mechanism is investigated, and the high orientational capability is demonstrated. The design of the 3-DoF PKM in this paper is very meaningful to the development of the five-axis machine tools with hybrid architectures. The design methods of type synthesis and kinematic optimization can also be used in the design of other PKMs.