Design of a New Family of Kinematically Redundant Parallel Mechanisms With Two Rotations and One Translation
| contributor author | Wu, Zhen | |
| contributor author | Li, Qinchuan | |
| contributor author | Ye, Wei | |
| date accessioned | 2023-08-16T18:43:40Z | |
| date available | 2023-08-16T18:43:40Z | |
| date copyright | 2/10/2023 12:00:00 AM | |
| date issued | 2023 | |
| identifier issn | 1050-0472 | |
| identifier other | md_145_5_053303.pdf | |
| identifier uri | http://yetl.yabesh.ir/yetl1/handle/yetl/4292391 | |
| description abstract | This article presents a new family of kinematically redundant parallel mechanisms (KR-PMs) with two rotations and one translation (2R1T) based on the Lie group method. Compared with the 2-UPR/RPU PM, these PMs have two main advantages, namely, larger reachable workspaces of the moving platforms and higher motion/force transmission performance, as verified by three typical cases. The inverse kinematics, velocities, singularities, and workspaces of the 2-UPR/PRPU PM are analyzed in detail. A new method for motion/force transmission performance evaluation of KR-PMs in accordance with the indices for nonredundant PMs is proposed. Moreover, the local and global motion/force transmission performances of the 2-UPR/PRPU PM are determined using the new method. | |
| publisher | The American Society of Mechanical Engineers (ASME) | |
| title | Design of a New Family of Kinematically Redundant Parallel Mechanisms With Two Rotations and One Translation | |
| type | Journal Paper | |
| journal volume | 145 | |
| journal issue | 5 | |
| journal title | Journal of Mechanical Design | |
| identifier doi | 10.1115/1.4056671 | |
| journal fristpage | 53303-1 | |
| journal lastpage | 53303-12 | |
| page | 12 | |
| tree | Journal of Mechanical Design:;2023:;volume( 145 ):;issue: 005 | |
| contenttype | Fulltext |
