Design and Kinematics Analysis of a 3-DOF Translational Parallel Mechanism
A systemic research on configuration design and kinematics analysis of a new 3-DOF translational parallel robot， Delta， which involved T-type hinges， is carried out based on Delta widely used in food fields， pharmaceutical fields， electronic fields and other light industry. The displacements charact...
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| Main Authors: | , , , |
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| Format: | Article |
| Language: | zho |
| Published: |
Editorial Office of Journal of Mechanical Transmission
2020-02-01
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| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2020.02.009 |
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| Summary: | A systemic research on configuration design and kinematics analysis of a new 3-DOF translational parallel robot， Delta， which involved T-type hinges， is carried out based on Delta widely used in food fields， pharmaceutical fields， electronic fields and other light industry. The displacements characteristics of minimal branch are obtained based on analysis of the freedom constraints relationship. And some branch types 3T0R parallel mechanism may contain are selected prudently. And some 3-DOF translational parallel robot mechanisms are synthesized. New Delta parallel robot mechanism that contains T-type hinges is synthesized by mechanism evolution method， whose branch type is <inline-formula><alternatives><math xmlns:mml="http://www.w3.org/1998/Math/MathML" id="M2"><mi mathvariant="normal">H</mi><mi mathvariant="normal">S</mi><mi mathvariant="normal">O</mi><mi mathvariant="normal">C</mi><mtext>{</mtext><mtext>-</mtext><msup><mrow><mi mathvariant="normal">P</mi></mrow><mrow><mtext>(</mtext><mn mathvariant="normal">4</mn><mi mathvariant="normal">R</mi><mtext>)</mtext></mrow></msup><mtext>-</mtext><mover accent="true"><mrow><mi mathvariant="normal">R</mi><mtext>⊥</mtext><mi mathvariant="normal">R</mi></mrow><mtext>̑</mtext></mover><mtext>/</mtext><mtext>/</mtext><mover accent="true"><mrow><mi mathvariant="normal">R</mi><mtext>⊥</mtext><mi mathvariant="normal">R</mi></mrow><mtext>̑</mtext></mover><mtext>-</mtext><mtext>}</mtext></math><graphic specific-use="big" xmlns:xlink="http://www.w3.org/1999/xlink" xlink:href="alternativeImage/03c8950b-e698-4ede-a814-4f831377a7ea-M002.jpg"><?fx-imagestate width="54.94866943" height="4.14866638"?></graphic><graphic specific-use="small" xmlns:xlink="http://www.w3.org/1999/xlink" xlink:href="alternativeImage/03c8950b-e698-4ede-a814-4f831377a7ea-M002c.jpg"><?fx-imagestate width="54.94866943" height="4.14866638"?></graphic></alternatives></inline-formula>. And based on the displacement parameter characteristics， the spatial degree of freedom is checked. Finally， the kinematics analysis of Delta parallel robot mechanism is carried out. And the inverse position model， forward position model and velocity model are built. |
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| ISSN: | 1004-2539 |