Research of Design and Kinematic Characteristic of a 3-UPS/RPP Parallel Mechanism
Abstract A new 3-DOF parallel mechanism 3-UPS/RPP is designed， which can realize two shifts and one rotation. Based on the traditional 3-UPS structure， a constrained branched chain of RPP structure is added to the structure. The spiral theory is applied to analyze the constrained chain. It is found...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | zho |
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Editorial Office of Journal of Mechanical Transmission
2020-05-01
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| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2020.05.009 |
| _version_ | 1826881435227652096 |
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| author | Xuqi Wu-Fan Qiang Xu Sheng Liu Mingming Gu |
| author_facet | Xuqi Wu-Fan Qiang Xu Sheng Liu Mingming Gu |
| author_sort | Xuqi Wu-Fan |
| collection | DOAJ |
| description | Abstract A new 3-DOF parallel mechanism 3-UPS/RPP is designed， which can realize two shifts and one rotation. Based on the traditional 3-UPS structure， a constrained branched chain of RPP structure is added to the structure. The spiral theory is applied to analyze the constrained chain. It is found that the proposed 3-UPS/RPP parallel mechanism can realize one-dimensional rotation and two-dimensional movement in the plane. On the basis of degree of freedom analysis， the kinematics model of 3-UPS/RPP parallel mechanism is further constructed. Through the decomposition analysis of driving and constrained branching chains， the analytical expression of inverse solution of position of 3-UPS/RPP parallel mechanism is given. Based on the results of inverse solution of position， a workspace search process is constructed， and the workspace of the mechanism is solved in Matlab software. Finally， the kinematics control simulation of the 3-UPS/RPP parallel mechanism is carried out. The simulation results show that the system has high dynamic trajectory tracking control accuracy and is suitable for practical application. |
| first_indexed | 2024-03-13T09:25:27Z |
| format | Article |
| id | doaj.art-afd571d2dea742d0bb67603758c359fa |
| institution | Directory Open Access Journal |
| issn | 1004-2539 |
| language | zho |
| last_indexed | 2025-02-17T02:45:01Z |
| publishDate | 2020-05-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj.art-afd571d2dea742d0bb67603758c359fa2025-01-10T14:55:53ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392020-05-0144596429796820Research of Design and Kinematic Characteristic of a 3-UPS/RPP Parallel MechanismXuqi Wu-FanQiang XuSheng LiuMingming GuAbstract A new 3-DOF parallel mechanism 3-UPS/RPP is designed， which can realize two shifts and one rotation. Based on the traditional 3-UPS structure， a constrained branched chain of RPP structure is added to the structure. The spiral theory is applied to analyze the constrained chain. It is found that the proposed 3-UPS/RPP parallel mechanism can realize one-dimensional rotation and two-dimensional movement in the plane. On the basis of degree of freedom analysis， the kinematics model of 3-UPS/RPP parallel mechanism is further constructed. Through the decomposition analysis of driving and constrained branching chains， the analytical expression of inverse solution of position of 3-UPS/RPP parallel mechanism is given. Based on the results of inverse solution of position， a workspace search process is constructed， and the workspace of the mechanism is solved in Matlab software. Finally， the kinematics control simulation of the 3-UPS/RPP parallel mechanism is carried out. The simulation results show that the system has high dynamic trajectory tracking control accuracy and is suitable for practical application.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2020.05.009Parallel mechanism |
| spellingShingle | Xuqi Wu-Fan Qiang Xu Sheng Liu Mingming Gu Research of Design and Kinematic Characteristic of a 3-UPS/RPP Parallel Mechanism Jixie chuandong Parallel mechanism |
| title | Research of Design and Kinematic Characteristic of a 3-UPS/RPP Parallel Mechanism |
| title_full | Research of Design and Kinematic Characteristic of a 3-UPS/RPP Parallel Mechanism |
| title_fullStr | Research of Design and Kinematic Characteristic of a 3-UPS/RPP Parallel Mechanism |
| title_full_unstemmed | Research of Design and Kinematic Characteristic of a 3-UPS/RPP Parallel Mechanism |
| title_short | Research of Design and Kinematic Characteristic of a 3-UPS/RPP Parallel Mechanism |
| title_sort | research of design and kinematic characteristic of a 3 ups rpp parallel mechanism |
| topic | Parallel mechanism |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2020.05.009 |
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