Kinematic analysis and dimensional synthesis of a three-degrees-of-freedom hybrid-drive parallel mechanism

Abstract

With the increasing demand for the attitude adjustment and vibration isolation of the precision instruments, this paper proposes a three-degrees-of-freedom hybrid-drive parallel mechanism and carries out the kinematic analysis and dimensional synthesis for it. First, the advantages of the hybrid-drive unit are introduced by comparison with the common driving methods. Then, the degrees of freedom of the hybrid-drive parallel mechanism is analyzed by constrained screw method, and the displacement mapping relationship between the generalized input and the moving platform is obtained by a successive approximation iteration method. Furthermore, the first-order and the second-order influence coefficients of the hybrid-drive mechanism are established on the basis of screw theory and the direct method. Besides, the operational dexterity index, the transfer performance index and the stiffness performance index of the hybrid-drive mechanism are introduced, and each single-objective dimensional synthesis of the hybrid-drive mechanism is carried out by the interior point method. Moreover, the multi-objective dimensional synthesis of the hybrid-drive mechanism is proposed by combining the genetic algorithm and the Pareto-optimal solution. Finally, taking the integer numbers of No.23 Pareto set as the numerical example, the kinematics formulas of the hybrid-drive mechanism are verified by the simulation and the experiment.