Type synthesis of non-overconstrained and overconstrained two rotation and three translation (2R3T) parallel mechanisms with three branched chains
<p>In this paper, a new synthesis method of 2R3T (R denotes rotation and T denotes translation) overconstrained and non-overconstrained parallel mechanisms (PMs) with three branched chains based on the displacement sub-manifold method is presented. Firstly, the displacement sub-manifolds of me...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
| Published: |
Copernicus Publications
2023-12-01
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| Series: | Mechanical Sciences |
| Online Access: | https://ms.copernicus.org/articles/14/567/2023/ms-14-567-2023.pdf |
| _version_ | 1827578200968921088 |
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| author | Y. Rong X. Zhang X. Zhang T. Dou H. Wang |
| author_facet | Y. Rong X. Zhang X. Zhang T. Dou H. Wang |
| author_sort | Y. Rong |
| collection | DOAJ |
| description | <p>In this paper, a new synthesis method of 2R3T (R denotes rotation and T denotes translation) overconstrained and non-overconstrained parallel mechanisms (PMs) with three branched chains based on the displacement sub-manifold method is presented. Firstly, the displacement sub-manifolds of mechanisms were determined based on 2R3T motions. Subsequently, the displacement sub-manifolds of the branched chains were derived using the displacement sub-manifold theory, and their corresponding motion diagrams were provided. Additionally, a comprehensive analysis of non-overconstrained 2R3T PMs with a single-constraint branched chain was conducted, and the type synthesis of overconstrained 2R3T PMs with two or three identical constraints was also performed, accompanied by the presentation of partial mechanism diagrams. Finally, the number of DOF (degrees of freedom) of the mechanism was calculated using the modified Kutzbach–Grübler equation for a new PMs,and the screw theory was used to verify the kinematic characteristics, proving this new method's correctness.</p> |
| first_indexed | 2024-03-08T21:38:42Z |
| format | Article |
| id | doaj.art-ffb2e217a68e4c4e82e63a1310d9c7af |
| institution | Directory Open Access Journal |
| issn | 2191-9151 2191-916X |
| language | English |
| last_indexed | 2024-03-08T21:38:42Z |
| publishDate | 2023-12-01 |
| publisher | Copernicus Publications |
| record_format | Article |
| series | Mechanical Sciences |
| spelling | doaj.art-ffb2e217a68e4c4e82e63a1310d9c7af2023-12-20T16:28:11ZengCopernicus PublicationsMechanical Sciences2191-91512191-916X2023-12-011456757710.5194/ms-14-567-2023Type synthesis of non-overconstrained and overconstrained two rotation and three translation (2R3T) parallel mechanisms with three branched chainsY. Rong0X. Zhang1X. Zhang2T. Dou3H. Wang4Hebei Key Laboratory of Special Delivery Equipment, School of Vehicles and Energy, Yanshan University, Qinhuangdao, Hebei, 066004, ChinaHebei Key Laboratory of Special Delivery Equipment, School of Vehicles and Energy, Yanshan University, Qinhuangdao, Hebei, 066004, ChinaParallel Robot and Mechatronic System Laboratory of Hebei Province, Yanshan University, Qinhuangdao, Hebei, 066004, ChinaHebei Key Laboratory of Special Delivery Equipment, School of Vehicles and Energy, Yanshan University, Qinhuangdao, Hebei, 066004, ChinaParallel Robot and Mechatronic System Laboratory of Hebei Province, Yanshan University, Qinhuangdao, Hebei, 066004, China<p>In this paper, a new synthesis method of 2R3T (R denotes rotation and T denotes translation) overconstrained and non-overconstrained parallel mechanisms (PMs) with three branched chains based on the displacement sub-manifold method is presented. Firstly, the displacement sub-manifolds of mechanisms were determined based on 2R3T motions. Subsequently, the displacement sub-manifolds of the branched chains were derived using the displacement sub-manifold theory, and their corresponding motion diagrams were provided. Additionally, a comprehensive analysis of non-overconstrained 2R3T PMs with a single-constraint branched chain was conducted, and the type synthesis of overconstrained 2R3T PMs with two or three identical constraints was also performed, accompanied by the presentation of partial mechanism diagrams. Finally, the number of DOF (degrees of freedom) of the mechanism was calculated using the modified Kutzbach–Grübler equation for a new PMs,and the screw theory was used to verify the kinematic characteristics, proving this new method's correctness.</p>https://ms.copernicus.org/articles/14/567/2023/ms-14-567-2023.pdf |
| spellingShingle | Y. Rong X. Zhang X. Zhang T. Dou H. Wang Type synthesis of non-overconstrained and overconstrained two rotation and three translation (2R3T) parallel mechanisms with three branched chains Mechanical Sciences |
| title | Type synthesis of non-overconstrained and overconstrained two rotation and three translation (2R3T) parallel mechanisms with three branched chains |
| title_full | Type synthesis of non-overconstrained and overconstrained two rotation and three translation (2R3T) parallel mechanisms with three branched chains |
| title_fullStr | Type synthesis of non-overconstrained and overconstrained two rotation and three translation (2R3T) parallel mechanisms with three branched chains |
| title_full_unstemmed | Type synthesis of non-overconstrained and overconstrained two rotation and three translation (2R3T) parallel mechanisms with three branched chains |
| title_short | Type synthesis of non-overconstrained and overconstrained two rotation and three translation (2R3T) parallel mechanisms with three branched chains |
| title_sort | type synthesis of non overconstrained and overconstrained two rotation and three translation 2r3t parallel mechanisms with three branched chains |
| url | https://ms.copernicus.org/articles/14/567/2023/ms-14-567-2023.pdf |
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