题名

Mobility and Motion Analysis of a Special 3-UPU Parallel Mechanism

DOI

10.6567/IFToMM.14TH.WC.OS13.097

作者

Ziming Chen;Yang Zhang;Kun Huang;Huafeng Ding;Zhen Huang

关键词

3-UPU ; 2R1T ; Parallel mechanism ; Parasitic motion ; Continuous rotation ; Continuous translation

期刊名称

Proceedings of the 14th IFToMM World Congress

卷期/出版年月

14th-4(2015 / 11 / 04)

页次

256 - 263

内容语文

英文

英文摘要

In this paper, the mobility and motion characteristics of a special 3-UPU parallel mechanism (PM) are studied. Using the screw theory and geometric method, the mobility of this PM is analyzed. When the moving platform and the base are not parallel, it has two rotational and one translational DOF. There is always a midperpendicular plane between the base and the moving platform. The moving platform can realize continuous rotation about any fixed axis or any fixed point on the midperpendicular plane and can have continuous translation along the normal line of the midperpendicular plane. Two numerical examples of the continuous motion are given.

主题分类 工程學 > 機械工程