Abstract
In this article, our recent work on a kind of 2-degree-of-freedom lower-mobility parallel mechanism, which has one rotation degree of freedom and one translational degree of freedom, used in multilayer garage is presented. It has the following characteristics: lower-mobility, non-symmetric structure but can realize symmetric movement and a good compatibility for different kinds of lifting work. Kinematic performance should be considered in the first of designing a new kind of mechanism, the optimal kinematic design and analysis of this lower-mobility parallel mechanism are primarily investigated. In process of study, the global conditioning index over workspace is adopted, we establish a new evaluation method for the lower-mobility parallel mechanism, called global symmetry index and simulation results are shown. In addition, the flexible workspace of this lower-mobility parallel mechanism is also proposed. The evaluation index can be also applied on other lower-mobility parallel mechanism, which needs steady and symmetric movement.
Highlights
The wide usage of parallel mechanism has proven to be a very helpful way to realize steady heavy load lifting, precise manipulation, good isotropy, quick response and obtaining high stiffness
Compared with 6-degree-of-freedom (DOF) parallel mechanism, lowermobility parallel mechanisms (LMPMs) which have 2–5 DOF have their advantages, such as simpler structure, easy to be controlled, and in specific situation, it does not need that many DOFs
More and more types of 6-DOF parallel mechanism and LMPMs are proposed for scientific research and production instrument. 6-DOF Stewart platform, DELTA mechanism, 3-UPU (U-universal joint, P-prismatic joint) mechanism and many other LMPMs are very successful examples applied in practical production.[1,2,3,4,5]
Summary
The wide usage of parallel mechanism has proven to be a very helpful way to realize steady heavy load lifting, precise manipulation, good isotropy, quick response and obtaining high stiffness. Keywords 2 degree-of-freedom lower-mobility parallel mechanism, kinematic performance evaluation, global symmetry index, flexible workspace, multilayer garage
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