This paper presents a novel 1T2R three degrees of freedom redundantly actuated and overconstrained ■parallel machining head(■denotes the active prismatic joint), which can construct 5-axis hybrid machine to complete...This paper presents a novel 1T2R three degrees of freedom redundantly actuated and overconstrained ■parallel machining head(■denotes the active prismatic joint), which can construct 5-axis hybrid machine to complete high speed freedom surface milling for large complex structural components in aerospace. Firstly, based on the screw theory, the mobility of the proposed parallel manipulator is briefly analysed. Secondly, the kinematic inverse position and the parasitic motion of the parallel manipulator are explicitly expressed. Furthermore, motion-force transmission performance evaluation indices are derived in detail via an alternative approach based on the screw theory. More importantly, a simple method for quickly solving the maximum virtual power coefficient is proposed, and the motion-force transmission performance evaluation index is greatly improved. To evaluate the kinematic performance, its workspace is calculated. With numerical examples, performance distribution atlases of the manipulator are depicted visually. The corresponding results illustrate that the proposed parallel manipulator has better orientation workspace and superior motion-force transmission performance than the 2 PRU-PRS parallel manipulator, which proves the validity and applicability of applying this manipulator as a machining head.展开更多
Parallel robotic mechanisms have emerged as a vital subfield in robotics science and engineering over the past few decades,receiving widespread attention and undergoing significant advancements.Despite extensive resea...Parallel robotic mechanisms have emerged as a vital subfield in robotics science and engineering over the past few decades,receiving widespread attention and undergoing significant advancements.Despite extensive research encompassing type synthesis,dimension optimization,control theory,design principles,manufacturing techniques,and others,comprehensive reviews on the motion–force-related performance of parallel robotic mechanisms and their applications to real-world problems are still lacking.This review aims to fill this gap by analyzing and summarizing significant studies on the motion–force interaction performance of parallel robotic mechanisms.Examining the historical development of theoretical paradigms,the research of parallel robotic mechanisms began relatively late compared with their serial counterparts.Initially,approaches for parallel mechanisms were inherited or adopted from serial mechanisms.However,many cases have demonstrated that parallel robotic mechanisms possess unique characteristics,making it infeasible to directly transfer the theories developed for serial mechanisms to parallel mechanisms.Therefore,new methodologies are needed to properly analyze and evaluate the intrinsic properties of parallel robotic mechanisms,where the interaction between motion and force plays a crucial role.This paper offers an extensive and systematic review of the existing journal literature that analyzes and evaluates motion–force interaction performance of parallel robotics mechanisms,also known as motion/force transmission and constraint performance,providing a broad and detailed bibliography that will serve as a reference for the research community.The work examines research strategies,evaluation methods,performance indices,and real-world applications concerning the motion–force interaction performance of parallel robotic mechanisms,offering a foundation to stimulate future research and innovation.展开更多
基金supported by the Fundamental Research Funds for the Central Universities (Nos. 2018JBZ007, 2018YJS136 and 2017YJS158)China Scholarship Council (CSC) (No. 201807090079)National Natural Science Foundation of China (NSFC) (No. 51675037)
文摘This paper presents a novel 1T2R three degrees of freedom redundantly actuated and overconstrained ■parallel machining head(■denotes the active prismatic joint), which can construct 5-axis hybrid machine to complete high speed freedom surface milling for large complex structural components in aerospace. Firstly, based on the screw theory, the mobility of the proposed parallel manipulator is briefly analysed. Secondly, the kinematic inverse position and the parasitic motion of the parallel manipulator are explicitly expressed. Furthermore, motion-force transmission performance evaluation indices are derived in detail via an alternative approach based on the screw theory. More importantly, a simple method for quickly solving the maximum virtual power coefficient is proposed, and the motion-force transmission performance evaluation index is greatly improved. To evaluate the kinematic performance, its workspace is calculated. With numerical examples, performance distribution atlases of the manipulator are depicted visually. The corresponding results illustrate that the proposed parallel manipulator has better orientation workspace and superior motion-force transmission performance than the 2 PRU-PRS parallel manipulator, which proves the validity and applicability of applying this manipulator as a machining head.
基金supported by the National Natural Science Foundation of China(Grant No.52105026).
文摘Parallel robotic mechanisms have emerged as a vital subfield in robotics science and engineering over the past few decades,receiving widespread attention and undergoing significant advancements.Despite extensive research encompassing type synthesis,dimension optimization,control theory,design principles,manufacturing techniques,and others,comprehensive reviews on the motion–force-related performance of parallel robotic mechanisms and their applications to real-world problems are still lacking.This review aims to fill this gap by analyzing and summarizing significant studies on the motion–force interaction performance of parallel robotic mechanisms.Examining the historical development of theoretical paradigms,the research of parallel robotic mechanisms began relatively late compared with their serial counterparts.Initially,approaches for parallel mechanisms were inherited or adopted from serial mechanisms.However,many cases have demonstrated that parallel robotic mechanisms possess unique characteristics,making it infeasible to directly transfer the theories developed for serial mechanisms to parallel mechanisms.Therefore,new methodologies are needed to properly analyze and evaluate the intrinsic properties of parallel robotic mechanisms,where the interaction between motion and force plays a crucial role.This paper offers an extensive and systematic review of the existing journal literature that analyzes and evaluates motion–force interaction performance of parallel robotics mechanisms,also known as motion/force transmission and constraint performance,providing a broad and detailed bibliography that will serve as a reference for the research community.The work examines research strategies,evaluation methods,performance indices,and real-world applications concerning the motion–force interaction performance of parallel robotic mechanisms,offering a foundation to stimulate future research and innovation.
