Geometric Analysis of Overconstrained Parallel Manipulators with Three and Four Degrees of Freedom
Geometric Analysis of Overconstrained Parallel Manipulators with Three and Four Degrees of Freedom
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DOI：
10.1299/jsmec.45.730
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发表时间：
2002-09
期刊：
影响因子：
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通讯作者：
T. Zhao;J. Dai;Zhen Huang
中科院分区：
文献类型：
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作者：
T. Zhao;J. Dai;Zhen Huang
本文研究了三自由度和四自由度并联机械臂的约束特性。研究中基于螺杆系统和互逆螺杆系统的线性独立性，提出了一种使用等效螺杆组的分析方法。给出了确定六自由度较少的空间并联机构中过约束的过程。通过该方法，可以得到四个三自由度或四自由度并联机构的约束特性，即。 e.揭示了 3-RRC、3-CPR、3-URU/SPS 和 4-UPU 机制。然后发现了三种类型的平行四边形连杆机构的约束特征，并给出了相应的串联机构的等价表示。该方法进一步应用于混合肢并联机构的几何分析，包括 3-R(4U)RPP 和 3-R(4S)RRRP 机构。
This paper investigates the constraint characteristics of parallel manipulators with three and four degrees of freedom. An analytical method of using equivalent screw groups is developed in the study based on the linear independence of screw systems and reciprocal screw systems. A procedure for determining overconstraints in spatial parallel mechanisms with fewer six degrees of freedom is given. With this method, the constraint characteristics of four parallel mechanisms with three or four degrees of freedom, i. e. 3-RRC, 3-CPR, 3-URU/SPS and 4-UPU mechanisms, are revealed. The constraint characteristics of three types of parallelogram linkage unites are then discovered, which gives the corresponding equivalent representations in terms of serial mechanisms. The approach is further applied to the geometric analysis of parallel mechanisms with hybrid limbs including 3-R(4U)RPP and 3-R(4S)RRRP mechanisms.