Parasitic motion comparison of 3-PRS parallel mechanism with different limb arrangements
Parasitic motion comparison of 3-PRS parallel mechanism with different limb arrangements
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DOI：
10.1016/j.rcim.2010.08.007
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发表时间：
2011-04-01
影响因子：
10.4
通讯作者：
Hu, Xudong
中科院分区：
文献类型：
--
作者：
Li, Qinchuan;Chen, Zhi;Hu, Xudong
3-PRS并联机构（PM）是一类重要的低自由度并联机构。由于它具有一个平移自由度和两个旋转自由度，因此具有很大的实际应用潜力，受到了广泛的关注。3-PRS永磁机构在约束自由度下产生的寄生运动是影响其应用的关键问题。首先，根据肢体的几何排列将3-PRS PM划分为7个子类。然后，详细讨论了各子类的寄生运动，并给出了实例分析。研究结果表明，3-PRS永磁机构的寄生运动复杂度取决于其分支的排列方式。确定了无寄生运动的3-PRS PM的结构。(C) 2010 Elsevier Ltd.版权所有。
The 3-PRS parallel mechanism (PM) is an important category of lower-mobility parallel mechanisms. Because it can undergo one translational degree of freedom (DOF) and two rotational DOFs, the 3-PRS PM has great potential in practical application and has received extensive attention. Parasitic motion occurring in the constrained DOFs of a 3-PRS PM is a key issue affecting its application. First, the 3-PRS PM is classified into seven subcategories based on the geometrical arrangements of limbs. Then, parasitic motion of each subcategory is discussed in detail and case studies are presented. It is illustrated that the complexity of parasitic motion of the 3-PRS PM is determined by the limb arrangement. The architecture of the 3-PRS PM without parasitic motion is also identified. (C) 2010 Elsevier Ltd. All rights reserved.