|Table of Contents|

Topology Analysis of a Reconfigurable Parallel Mechanisms(PDF)

《南京师大学报（自然科学版）》[ISSN:1001-4616/CN:32-1239/N]

Issue:
2021年04期
Page:
7-16
Research Field:
·物理学·
Publishing date:

Info

Title:
Topology Analysis of a Reconfigurable Parallel Mechanisms
Author(s):
Xu Shuai1; You Jingjing1; 2; Shen Huiping3; Ye Pengda1
(1.College of Mechanical and Electronic Engineering,Nanjing Forestry University,Nanjing 210037,China)(2.Jiangsu Key Laboratory of Precision and Micro-Manufacturing Technology,Nanjing 210016,China)(3.Research Center for Advanced Mechanism Theory,Changzhou University,Changzhou 213016,China)
Keywords:
parallel mechanisms; reconfigurable; locked; position and orientation characteristics; topological characteristics; single open chain
PACS:
TH112
DOI:
10.3969/j.issn.1001-4616.2021.04.002
Abstract:
A reconfigurable parallel mechanism is designed. Firstly,in order to reconstruct the topology configuration of the mechanisms,a movable pair with convertible principal and slave motion and locking is designed. Secondly,the moving pairs in the structure were set as six types of locking modes,and thirteen topological configurations were reconstructed. Then,taking a moving pair with a lock as an example,the topology design theory of parallel mechanism based on position and orientation characteristics(POC)and ordered single-opened-chain(SOC)is adopted to analyze in detail the three main topology characteristics of POC set,degree of freedom and coupling degree of the mechanism. Finally,the topological indexes of the other twelve reconfigurable parallel mechanisms are listed,which reflect the basic kinematics and dynamics performance of the reconfigurable parallel mechanisms,and provide the theoretical basis for the subsequent configuration synthesis and motion control,and further provide the application reference for the promotion of the reconfigurable parallel mechanisms.

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Last Update: 2021-12-15