| Lei Jingtao (雷静桃),Hu Lei,Cao Yuanlong,Wang Tianmiao.[J].高技术通讯(英文),2014,20(2):124~130 |
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| Mobility and constant-orientation workspace analysis of 4UPS-UPU parallel mechanism |
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| DOI：10.3772/j.issn.1006-6748.2014.02.003 |
| 中文关键词: |
| 英文关键词: parallel mechanism (PM), screw theory, mobility, boundary search method, workspace |
| 基金项目: |
| Author Name | Affiliation | | Lei Jingtao (雷静桃) | | | Hu Lei | | | Cao Yuanlong | | | Wang Tianmiao | |
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| 中文摘要: |
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| 英文摘要: |
| One of the key issues for parallel mechanism is the kinematic characteristics, especially the workspace which varies with configuration parameters. A kind of 4UPS-UPU parallel mechanism is designed and its workspace is studied in this paper. First, the mobility of the 4UPS-UPU parallel mechanism is analyzed based on the reciprocal screw theory, and the motion and constraint screw systems of the parallel mechanism are obtained. Then the inverse kinematics is derived by the closed-form kinematics chain. The boundary search method in the polar coordinate system is presented to analyze the constant-orientation workspace of the parallel mechanism. Finally, the influence factors relevant to the workspace, such as the structural parameters and kinematics parameters are analyzed in detail. The relationship between the workspace volume and different parameters are obtained. The conclusions can be used for parameters optimization and path planning of the parallel mechanism. |
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