A novel decoupled parallel mechanism with two translational and one rotational degree of freedom and its performance indices analysis
Less degrees of freedom parallel mechanism is widely used in many fields with its unique advantages. A decoupled parallel mechanism with 2 degree-of-freedom translation and 1 degree-of-freedom rotation is presented, and its performance evaluation indices analysis is performed. By the constraint scre...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
SAGE Publishing
2016-05-01
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| Series: | Advances in Mechanical Engineering |
| Online Access: | https://doi.org/10.1177/1687814016646936 |
| _version_ | 1818262379551522816 |
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| author | Daxing Zeng Guoning Jing Yonglin Su Yi Wang Yulei Hou |
| author_facet | Daxing Zeng Guoning Jing Yonglin Su Yi Wang Yulei Hou |
| author_sort | Daxing Zeng |
| collection | DOAJ |
| description | Less degrees of freedom parallel mechanism is widely used in many fields with its unique advantages. A decoupled parallel mechanism with 2 degree-of-freedom translation and 1 degree-of-freedom rotation is presented, and its performance evaluation indices analysis is performed. By the constraint screw method, the motion feature of the mechanism and its number of degree of freedom are analyzed. The constrained equations of the mechanism are established according to the constrained conditions of the pole length. The analytical expression of the forward and inverse position for the mechanism is deduced, and the expression of the Jacobian matrix is derived, which validated the decoupling feature of the mechanism. The singularity of the mechanism is also carried out. The performance evaluation indices for the decoupled parallel mechanism are discussed and the corresponding performance indices analysis of the proposed decoupled parallel mechanism is executed. The novel decoupled parallel mechanism presented herein enriches the parallel mechanism structure, and the definition and analysis of the performance evaluation indices should be meaningful for the further design and optimization of the decoupled parallel mechanism. |
| first_indexed | 2024-12-12T19:02:11Z |
| format | Article |
| id | doaj.art-e7825a13db9049969e4ba402ed1eda74 |
| institution | Directory Open Access Journal |
| issn | 1687-8140 |
| language | English |
| last_indexed | 2024-12-12T19:02:11Z |
| publishDate | 2016-05-01 |
| publisher | SAGE Publishing |
| record_format | Article |
| series | Advances in Mechanical Engineering |
| spelling | doaj.art-e7825a13db9049969e4ba402ed1eda742022-12-22T00:15:04ZengSAGE PublishingAdvances in Mechanical Engineering1687-81402016-05-01810.1177/168781401664693610.1177_1687814016646936A novel decoupled parallel mechanism with two translational and one rotational degree of freedom and its performance indices analysisDaxing ZengGuoning JingYonglin SuYi WangYulei HouLess degrees of freedom parallel mechanism is widely used in many fields with its unique advantages. A decoupled parallel mechanism with 2 degree-of-freedom translation and 1 degree-of-freedom rotation is presented, and its performance evaluation indices analysis is performed. By the constraint screw method, the motion feature of the mechanism and its number of degree of freedom are analyzed. The constrained equations of the mechanism are established according to the constrained conditions of the pole length. The analytical expression of the forward and inverse position for the mechanism is deduced, and the expression of the Jacobian matrix is derived, which validated the decoupling feature of the mechanism. The singularity of the mechanism is also carried out. The performance evaluation indices for the decoupled parallel mechanism are discussed and the corresponding performance indices analysis of the proposed decoupled parallel mechanism is executed. The novel decoupled parallel mechanism presented herein enriches the parallel mechanism structure, and the definition and analysis of the performance evaluation indices should be meaningful for the further design and optimization of the decoupled parallel mechanism.https://doi.org/10.1177/1687814016646936 |
| spellingShingle | Daxing Zeng Guoning Jing Yonglin Su Yi Wang Yulei Hou A novel decoupled parallel mechanism with two translational and one rotational degree of freedom and its performance indices analysis Advances in Mechanical Engineering |
| title | A novel decoupled parallel mechanism with two translational and one rotational degree of freedom and its performance indices analysis |
| title_full | A novel decoupled parallel mechanism with two translational and one rotational degree of freedom and its performance indices analysis |
| title_fullStr | A novel decoupled parallel mechanism with two translational and one rotational degree of freedom and its performance indices analysis |
| title_full_unstemmed | A novel decoupled parallel mechanism with two translational and one rotational degree of freedom and its performance indices analysis |
| title_short | A novel decoupled parallel mechanism with two translational and one rotational degree of freedom and its performance indices analysis |
| title_sort | novel decoupled parallel mechanism with two translational and one rotational degree of freedom and its performance indices analysis |
| url | https://doi.org/10.1177/1687814016646936 |
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