Type Synthesis of Fully Decoupled Three Translational Parallel Mechanism with Closed-Loop Units and High Stiffness
Abstract In order to solve the problem of weak stiffness of the existing fully decoupled parallel mechanism, a new synthesis method of fully decoupled three translational (3T) parallel mechanisms (PMs) with closed-loop units and high stiffness is proposed based on screw theory. Firstly, a new criter...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
SpringerOpen
2023-10-01
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| Series: | Chinese Journal of Mechanical Engineering |
| Subjects: | |
| Online Access: | https://doi.org/10.1186/s10033-023-00908-3 |
| _version_ | 1797577678368276480 |
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| author | Shihua Li Sen Wang Haoran Li Yongjie Wang Shuang Chen |
| author_facet | Shihua Li Sen Wang Haoran Li Yongjie Wang Shuang Chen |
| author_sort | Shihua Li |
| collection | DOAJ |
| description | Abstract In order to solve the problem of weak stiffness of the existing fully decoupled parallel mechanism, a new synthesis method of fully decoupled three translational (3T) parallel mechanisms (PMs) with closed-loop units and high stiffness is proposed based on screw theory. Firstly, a new criterion for the full decoupled of PMs is presented that the reciprocal product of the transmission wrench screw matrix and the output twist screw matrix of PMs is a diagonal matrix, and all elements on the main diagonal are nonzero constants. The forms of the transmission wrench screws are determined by the criterion. Secondly, the forms of the actuated and unactuated screws can be obtained according to their relationships with the transmission wrench screws. The basic decoupled limbs are generated by combination of the above actuated and unactuated screws. Finally, a closed-loop units construction method is investigated to apply the decoupled mechanisms in a better way on the high stiffness occasion. The closed-loop units are constructed in the basic decoupled limbs to generate a high-stiffness fully decoupled 3T PM. Kinematic and stiffness analyses show that the Jacobian matrix is a diagonal matrix, and the stiffness is obviously higher than that of the coupling mechanisms, which verifies the correctness of the proposed synthesis method. The mechanism synthesized by this method has a good application prospect in vehicle durability test platform. |
| first_indexed | 2024-03-10T22:11:28Z |
| format | Article |
| id | doaj.art-7b449ca499d247bdb754832d0fc16d53 |
| institution | Directory Open Access Journal |
| issn | 2192-8258 |
| language | English |
| last_indexed | 2024-03-10T22:11:28Z |
| publishDate | 2023-10-01 |
| publisher | SpringerOpen |
| record_format | Article |
| series | Chinese Journal of Mechanical Engineering |
| spelling | doaj.art-7b449ca499d247bdb754832d0fc16d532023-11-19T12:35:25ZengSpringerOpenChinese Journal of Mechanical Engineering2192-82582023-10-0136111710.1186/s10033-023-00908-3Type Synthesis of Fully Decoupled Three Translational Parallel Mechanism with Closed-Loop Units and High StiffnessShihua Li0Sen Wang1Haoran Li2Yongjie Wang3Shuang Chen4Hebei Provincial Key Laboratory of Parallel Robot and Mechatronic Systems, Yanshan UniversityHebei Provincial Key Laboratory of Parallel Robot and Mechatronic Systems, Yanshan UniversityHebei Provincial Key Laboratory of Parallel Robot and Mechatronic Systems, Yanshan UniversityHebei Provincial Key Laboratory of Parallel Robot and Mechatronic Systems, Yanshan UniversityHebei Provincial Key Laboratory of Parallel Robot and Mechatronic Systems, Yanshan UniversityAbstract In order to solve the problem of weak stiffness of the existing fully decoupled parallel mechanism, a new synthesis method of fully decoupled three translational (3T) parallel mechanisms (PMs) with closed-loop units and high stiffness is proposed based on screw theory. Firstly, a new criterion for the full decoupled of PMs is presented that the reciprocal product of the transmission wrench screw matrix and the output twist screw matrix of PMs is a diagonal matrix, and all elements on the main diagonal are nonzero constants. The forms of the transmission wrench screws are determined by the criterion. Secondly, the forms of the actuated and unactuated screws can be obtained according to their relationships with the transmission wrench screws. The basic decoupled limbs are generated by combination of the above actuated and unactuated screws. Finally, a closed-loop units construction method is investigated to apply the decoupled mechanisms in a better way on the high stiffness occasion. The closed-loop units are constructed in the basic decoupled limbs to generate a high-stiffness fully decoupled 3T PM. Kinematic and stiffness analyses show that the Jacobian matrix is a diagonal matrix, and the stiffness is obviously higher than that of the coupling mechanisms, which verifies the correctness of the proposed synthesis method. The mechanism synthesized by this method has a good application prospect in vehicle durability test platform.https://doi.org/10.1186/s10033-023-00908-3Screw theoryThree translational parallel mechanismFull decoupledClosed-loop unitsHigh stiffness |
| spellingShingle | Shihua Li Sen Wang Haoran Li Yongjie Wang Shuang Chen Type Synthesis of Fully Decoupled Three Translational Parallel Mechanism with Closed-Loop Units and High Stiffness Chinese Journal of Mechanical Engineering Screw theory Three translational parallel mechanism Full decoupled Closed-loop units High stiffness |
| title | Type Synthesis of Fully Decoupled Three Translational Parallel Mechanism with Closed-Loop Units and High Stiffness |
| title_full | Type Synthesis of Fully Decoupled Three Translational Parallel Mechanism with Closed-Loop Units and High Stiffness |
| title_fullStr | Type Synthesis of Fully Decoupled Three Translational Parallel Mechanism with Closed-Loop Units and High Stiffness |
| title_full_unstemmed | Type Synthesis of Fully Decoupled Three Translational Parallel Mechanism with Closed-Loop Units and High Stiffness |
| title_short | Type Synthesis of Fully Decoupled Three Translational Parallel Mechanism with Closed-Loop Units and High Stiffness |
| title_sort | type synthesis of fully decoupled three translational parallel mechanism with closed loop units and high stiffness |
| topic | Screw theory Three translational parallel mechanism Full decoupled Closed-loop units High stiffness |
| url | https://doi.org/10.1186/s10033-023-00908-3 |
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