A kind of kinematic chain with parallel linear motion elements (PLMEs) is proposed and studied in this paper. Based on screw theory, the kinematic screw equations of these linkages are established. The two special categories of PLMEs, with pure translational motion and with pure rotational motion respectively, are identified. The mobilities and the singularities of these kinematic chains are also investigated. By the utilization of these PLMEs, three types of the compound limbs are invented and analyzed. Through assembling these compound limbs in different ways, a class of lower mobility symmetrical 3T, 3T-1R, and 3R mechanisms is synthesized and presented for the first time. The simplified kinematic equations for this class of mechanisms driven by the linear actuators are derived. And the workspaces, singularities, and kinematic performance are addressed. Finally, three typical prototypes with regard to 3T, 3T-1R, and 3R mechanisms are manufactured and experimented to validate the mobility and motion feasibility of these mechanisms.
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October 2018
Research-Article
A Class of Symmetrical 3T, 3T-1R, and 3R Mechanisms With Parallel Linear Motion Elements
Yi Yang,
Yi Yang
School of Mechatronic
Engineering and Automation,
Shanghai University,
Shanghai 200444, China
e-mail: yiyangshu@t.shu.edu.cn
Engineering and Automation,
Shanghai University,
Shanghai 200444, China
e-mail: yiyangshu@t.shu.edu.cn
Search for other works by this author on:
Wuxiang Zhang,
Wuxiang Zhang
School of Mechanical
Engineering and Automation,
Beihang University,
Beijing 100086, China;
Engineering and Automation,
Beihang University,
Beijing 100086, China;
Beijing Advanced Innovation Center
for Biomedical Engineering,
Beihang University,
Beijing 100086, China
e-mail: zhangwuxiang@buaa.edu.cn
for Biomedical Engineering,
Beihang University,
Beijing 100086, China
e-mail: zhangwuxiang@buaa.edu.cn
Search for other works by this author on:
Huayan Pu,
Huayan Pu
School of Mechatronic
Engineering and Automation,
Shanghai University,
Shanghai 200444, China
e-mail: puhuayanshu82@sina.com
Engineering and Automation,
Shanghai University,
Shanghai 200444, China
e-mail: puhuayanshu82@sina.com
Search for other works by this author on:
Yan Peng
Yan Peng
School of Mechatronic
Engineering and Automation,
Shanghai University,
Shanghai 200444, China
e-mail: pengyanshu82@sina.com
Engineering and Automation,
Shanghai University,
Shanghai 200444, China
e-mail: pengyanshu82@sina.com
Search for other works by this author on:
Yi Yang
School of Mechatronic
Engineering and Automation,
Shanghai University,
Shanghai 200444, China
e-mail: yiyangshu@t.shu.edu.cn
Engineering and Automation,
Shanghai University,
Shanghai 200444, China
e-mail: yiyangshu@t.shu.edu.cn
Wuxiang Zhang
School of Mechanical
Engineering and Automation,
Beihang University,
Beijing 100086, China;
Engineering and Automation,
Beihang University,
Beijing 100086, China;
Beijing Advanced Innovation Center
for Biomedical Engineering,
Beihang University,
Beijing 100086, China
e-mail: zhangwuxiang@buaa.edu.cn
for Biomedical Engineering,
Beihang University,
Beijing 100086, China
e-mail: zhangwuxiang@buaa.edu.cn
Huayan Pu
School of Mechatronic
Engineering and Automation,
Shanghai University,
Shanghai 200444, China
e-mail: puhuayanshu82@sina.com
Engineering and Automation,
Shanghai University,
Shanghai 200444, China
e-mail: puhuayanshu82@sina.com
Yan Peng
School of Mechatronic
Engineering and Automation,
Shanghai University,
Shanghai 200444, China
e-mail: pengyanshu82@sina.com
Engineering and Automation,
Shanghai University,
Shanghai 200444, China
e-mail: pengyanshu82@sina.com
1Corresponding author.
Contributed by the Mechanisms and Robotics Committee of ASME for publication in the JOURNAL OF MECHANISMS AND ROBOTICS. Manuscript received December 5, 2017; final manuscript received June 26, 2018; published online August 6, 2018. Assoc. Editor: Damien Chablat.
J. Mechanisms Robotics. Oct 2018, 10(5): 051016 (18 pages)
Published Online: August 6, 2018
Article history
Received:
December 5, 2017
Revised:
June 26, 2018
Citation
Yang, Y., Zhang, W., Pu, H., and Peng, Y. (August 6, 2018). "A Class of Symmetrical 3T, 3T-1R, and 3R Mechanisms With Parallel Linear Motion Elements." ASME. J. Mechanisms Robotics. October 2018; 10(5): 051016. https://doi.org/10.1115/1.4040885
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