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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Editorial Office of Journal of Mechanical Transmission
2020-02-01
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| Series: | Jixie chuandong |
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| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2020.02.009 |
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| author | Yu Liang Zhang Long Wang Peng Wan Jun |
| author_facet | Yu Liang Zhang Long Wang Peng Wan Jun |
| author_sort | Yu Liang |
| collection | DOAJ |
| description | 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. |
| format | Article |
| id | doaj-art-6d4230afc4904fef9b5152864fa01f8e |
| institution | Kabale University |
| issn | 1004-2539 |
| language | zho |
| publishDate | 2020-02-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
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| series | Jixie chuandong |
| spelling | doaj-art-6d4230afc4904fef9b5152864fa01f8e2025-01-10T14:46:31ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392020-02-0144616731441067Design and Kinematics Analysis of a 3-DOF Translational Parallel MechanismYu LiangZhang LongWang PengWan JunA 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.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2020.02.009Delta |
| spellingShingle | Yu Liang Zhang Long Wang Peng Wan Jun Design and Kinematics Analysis of a 3-DOF Translational Parallel Mechanism Jixie chuandong Delta |
| title | Design and Kinematics Analysis of a 3-DOF Translational Parallel Mechanism |
| title_full | Design and Kinematics Analysis of a 3-DOF Translational Parallel Mechanism |
| title_fullStr | Design and Kinematics Analysis of a 3-DOF Translational Parallel Mechanism |
| title_full_unstemmed | Design and Kinematics Analysis of a 3-DOF Translational Parallel Mechanism |
| title_short | Design and Kinematics Analysis of a 3-DOF Translational Parallel Mechanism |
| title_sort | design and kinematics analysis of a 3 dof translational parallel mechanism |
| topic | Delta |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2020.02.009 |
| work_keys_str_mv | AT yuliang designandkinematicsanalysisofa3doftranslationalparallelmechanism AT zhanglong designandkinematicsanalysisofa3doftranslationalparallelmechanism AT wangpeng designandkinematicsanalysisofa3doftranslationalparallelmechanism AT wanjun designandkinematicsanalysisofa3doftranslationalparallelmechanism |