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Force Analysis and Mechanical Design of a Novel 3-DOF Parallel Mechanism

[+] Author Affiliations
Dongsheng Zhang, Yundou Xu, Jiantao Yao, Yulin Zhou, Yongsheng Zhao

Yanshan University, Qinhuangdao, China

Paper No. DETC2018-85280, pp. V05BT07A035; 6 pages
doi:10.1115/DETC2018-85280
From:
  • ASME 2018 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 5B: 42nd Mechanisms and Robotics Conference
  • Quebec City, Quebec, Canada, August 26–29, 2018
  • Conference Sponsors: Design Engineering Division, Computers and Information in Engineering Division
  • ISBN: 978-0-7918-5181-4
  • Copyright © 2018 by ASME

abstract

Parallel mechanisms (PMs) with two rotational degrees-of-freedom (DOF) and one translational DOF (2R1T) have gained much attention in recent years. In this paper, different from type synthesis method, inner properties of PMs (motion characteristics, type of joints and arrangement way of joints) are used to deduce PMs; and two novel 3-DOF PMs are presented using this method. Aiming at 2UPU/SP PM, the constraint force/torque generated on the moving platform (MP) are analysed; here, P, U and S denote prismatic, universal and spherical joints, respectively. The driving force and the constraint force/torque are drawn, which show good distribution of the constraint wrench. After that, a novel 5-DOF hybrid manipulator is constructed on the basis of the 2UPU/SP PM; according to different demands, two alternative designs of the 5-DOF hybrid manipulator are presented. The study in this paper will enhance the research applications of the 2UPU/SP PM.

Copyright © 2018 by ASME

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