[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]

Copy

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

一种3-7R并联解耦机构的运动学与动力学分析

Share：

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

一种3-7R并联解耦机构的运动学与动力学分析

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

郑建勇¹, 史金飞¹, 张志胜¹, 李为民²

¹东南大学机械工程学院, 南京 211189; ²河北工业大学机械工程学院, 天津 300130

Keywords:

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

3-7R并联解耦机构;  运动学;  动力学;  解耦

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.

基于运动副分析, 对一种运动解耦的3-7R并联机构进行了构型分析, 并对机构的构型特点进行了总结.该机构由3个正交分布的支链组成, 机构的运动副均为转动副, 构成了机构动平台在x, y, z 三个方向的平动解耦.为验证机构的解耦特性, 对机构进行了运动学分析, 推导了机构的运动学正/反解、输入/输出的速度和加速度, 验证了机构的运动解耦特性.采用一种机构支链分解-综合的方法, 利用拉格朗日法建立了机构的动力学模型, 验证了机构的力解耦特性.这对机构控制策略、机构设计和轨迹规划等方面的研究具有一定的理论意义.

References:

[1] Cao Yanxia.The study of the decoupled force feedback manipulator with 3-DOF translation [D].Tianjin:School of Mechanical Engineering of Hebei University of Technology, 2004.(in Chinese)
[2] Gosselin C M, Angeles J.The optimum kinematic design of a planar three-degree-of-freedom parallel manipulator [J].ASME J Mech Trans Autom Des, 1988, 110(1):35-41.
[3] Gosselin C M, Angeles J.The optimum kinematic design of a spherical three-degree-of-freedom parallel manipulator [J].ASME J Mech Trans Autom Des, 1989, 111(2):202-207.
[4] Lee K M, Shah D K.Kinematic analysis of a three-degree-of-freedom parallel actuated manipulator [J].IEEE Journal of Robotics and Automation, 1988, 4(3):354-360.
[5] Hunt K H.Structural kinematics of in-actuated robot-arms [J].ASME J Mech Trans Autom Des, 1983, 105(4):705-712.
[6] Jin Qiong, Yang Tingli.Position analysis for a class of novel 3-DOF translational parallel robot mechanisms[J].Journal of Southeast University:Natural Science Edition, 2001, 31(5):33-38.(in Chinese)
[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.

Common functions