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A serial of novel four degrees of freedom parallel mechanisms with large rotational workspace

Published online by Cambridge University Press:  09 July 2014

Sheng Guo ,
Wei Ye ,
Haibo Qu ,
Dan Zhang  and
Yuefa Fang
Sheng Guo
Affiliation:
Robotics Research Laboratory, School of Mechanical, Electronic and Control Engineering, Beijing Jiaotong University, China
Wei Ye*
Affiliation:
Robotics Research Laboratory, School of Mechanical, Electronic and Control Engineering, Beijing Jiaotong University, China
Haibo Qu
Affiliation:
Robotics Research Laboratory, School of Mechanical, Electronic and Control Engineering, Beijing Jiaotong University, China
Dan Zhang
Affiliation:
Robotics and Automation Laboratory, University of Ontario Institute of Technology, Canada
Yuefa Fang
Affiliation:
Robotics Research Laboratory, School of Mechanical, Electronic and Control Engineering, Beijing Jiaotong University, China
*
*Corresponding author: E-mail: [email protected]
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Summary

In this paper, a class of novel four Degrees of Freedom (DOF) non-overconstrained parallel mechanisms with large rotational workspace is presented based on screw theory. First, the conflict between the number of independent constraints applied on the moving platform and the number of kinematic limbs for 4-DOF non-overconstrained parallel mechanism is identified. To solve this conflict, the platform partition method is introduced, and two secondary platforms are employed in each of the parallel mechanisms. Then, the motion requirements of the secondary platforms are analyzed and all the possible kinematic chains are enumerated. The geometrical assembly conditions of all possible secondary limbs are analyzed and some typical non-overconstrained parallel mechanisms are generated. In each of the parallel mechanisms, a planetary gear train is used to connect both of the secondary platforms. The large rotational workspace of the moving platform is obtained due to the relative motion of the two secondary platforms. Finally, the kinematics analysis of a typical parallel mechanism is conducted.

Keywords

Parallel mechanismType synthesisNon-overconstrainedPlanetary gear train
Type
Articles
Information
Robotica , Volume 34 , Issue 4 , April 2016 , pp. 764 - 776
Copyright
Copyright © Cambridge University Press 2014 

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