[1] Zheng Jianyong, Shi Jinfei, Zhang Zhisheng, Li Weimin, et al. Kinematics and dynamics analysisof a 3-7R parallel decoupling mechanism [J]. Journal of Southeast University (English Edition), 2008, 24 (2): 183-187. [doi:10.3969/j.issn.1003-7985.2008.02.012]

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Kinematics and dynamics analysisof a 3-7R parallel decoupling mechanism()

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Journal of Southeast University (English Edition)[ISSN:1003-7985/CN:32-1325/N]

Volumn:

24

Issue:

2008 2

Page:

183-187

Research Field:

Automation

Publishing date:

2008-06-03

Info

Title:

Kinematics and dynamics analysisof a 3-7R parallel decoupling mechanism

Author(s):

Zheng Jianyong¹;  Shi Jinfei¹;  Zhang Zhisheng¹;  Li Weimin²

¹School of Mechanical Engineering, Southeast University, Nanjing 211189, China
²School of Mechanical Engineering, Hebei University of Technology, Tianjin 300130, China

Keywords:

3-7R parallel decoupling mechanism;  kinematics;  dynamics;  decoupling

PACS:

TP242;TH113

DOI:

10.3969/j.issn.1003-7985.2008.02.012

Abstract:

One kind of movable-pair analysis method is adopted to analyze the configuration of a 3-7R(revolute-pair)parallel decoupling mechanism, and the mechanism’s characteristics are summarized.The mechanism has three orthogonal distributional branch-chains, and all movable pairs are rotational joints. The movable platform of the mechanism has x, y, z translational decoupling directions.Furthermore, in order to verify the mechanism’s decoupling characteristics, the mechanism’s kinematics analysis is solved, and the mechanism’s direct/inverse kinematics model, input/output velocities and accelerations are deduced, which confirm its decoupling movement characteristics.Finally, one kind of mechanism link decomposed-integrated approach is adopted, and the mechanism’s dynamics model is completed with the Lagrange method, which also proves its decoupling force characteristics.All of these works provide significant theory for the further study of the mechanism’s control strategy, design, path planning etc.

References:

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[7] Jin Qiong, Yang Tingli.Synthesis and analysis of a group of 3-degree-of-freedom partially decoupled parallel manipulators [J].Journal of Mechanical Design, 2004, 126(2):301-306.
[8] Li Huiliang, Jin Qiong, Yang Tingli.A group of 3-DOF decoupled parallel mechanisms and their displacement analyses [J].Machine Building & Automation, 2002(1):9-14.(in Chinese)
[9] Hang Lubin, Wang Yan, Yang Tingli.Analysis of a new type 3 translations-1 rotation decoupled parallel manipulator[J].China Mechanical Engineering, 2004, 15(12):1035-1037;1041.(in Chinese)
[10] Li Weimin, Gao Feng, Zhang Jianjun.A three-DOF translational manipulator with decoupled geometry [J].Robotics, 2005, 23(6):805-808.
[11] Li Weimin, Gao Feng, Zhang Jianjun.R-CUBE, a decoupled parallel manipulator only with revolute joints [J].Mechanism and Machine Theory, 2005, 40(4):467-473.
[12] Zhao Xifang. Robot dynamics [M].Shanghai:Shanghai Jiaotong University Press, 2001.(in Chinese)

Memo

Memo:

Biographies: Zheng Jianyong(1978—), male, graduate;Shi Jinfei(corres-ponding author), male, doctor, professor, shijf@seu.edu.cn.
Foundation item: The National High Technology Research and Development Program of China(863 Program)(No.2006AA040202).
Citation: Zheng Jianyong, Shi Jinfei, Zhang Zhisheng, et al.Kinematics and dynamics analysis of a 3-7R parallel decoupling mechanism[J].Journal of Southeast University(English Edition), 2008, 24(2):183-187.

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