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Symbolic position analysis for three 6-DOF parallel mechanisms and new insight

Published online by Cambridge University Press:  27 March 2024

Zhongqiu Du Open the ORCID record for Zhongqiu Du [Opens in a new window] ,
Ju Li ,
Qingmei Meng ,
Pengda Ye  and
Huiping Shen Open the ORCID record for Huiping Shen [Opens in a new window]
Zhongqiu Du
Affiliation:
Research Center for Advanced Mechanisms Theory, Changzhou University, Changzhou, PR China
Ju Li
Affiliation:
Research Center for Advanced Mechanisms Theory, Changzhou University, Changzhou, PR China
Qingmei Meng
Affiliation:
Research Center for Advanced Mechanisms Theory, Changzhou University, Changzhou, PR China
Pengda Ye
Affiliation:
Research Center for Advanced Mechanisms Theory, Changzhou University, Changzhou, PR China
Huiping Shen*
Affiliation:
Research Center for Advanced Mechanisms Theory, Changzhou University, Changzhou, PR China
*
Corresponding author: Huiping Shen; Email: shp65@126.com
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Abstract

The authors‘ previous research has demonstrated that parallel mechanisms (PMs) with hybrid branch chains (i.e., branch chains containing planar or spatial loops) can possess symbolic forward position (SFP) solutions and motion decoupling (MD). In order to further study the conditions of a three-chain six degrees of freedom (DOF) parallel mechanism with SFP and MD, this paper proposes one 6-DOF branch chain A and two 5-DOF branch chains B and C. Based on these, a class of four 6-DOF PMs with three branch chains is devised. The symbolic position analysis of three of four such PMs is performed consequently, featuring partial MD and SFPs, which reveals that if the position or orientation of a point on the moving platform can be determined by the position of the hybrid branch chain, the PM exhibits partial MD and SFP. Finally, the accuracy of the symbolized forward and inverse solution algorithms is verified through numerical examples. This research brings a new insight into the design and position analysis of 6-DOF PMs, particularly those with SFP and partial MD.

Keywords

parallel mechanismposition analysissymbolic solutions
Type
Research Article
Information
Robotica , Volume 42 , Issue 5 , May 2024 , pp. 1628 - 1648
Copyright
© The Author(s), 2024. Published by Cambridge University Press

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