Structural Synthesis, Dynamic Modeling and Analysis of a 3-DOF Asymmetric Parallel Mechanism  

作　　者：Rynaldo Zanotele Hemerly de Almeida and Tarcisio Antonio Hess-Coelho 

机构地区：[1]Department of Mechatronics and Mechanical System, Escola Politecnica, University of Sao Paulo, Sao Paulo 05508-030, Brazil

出　　处：《Journal of Mechanics Engineering and Automation》2011年第6期481-490,共10页机械工程与自动化（英文版）

摘　　要：Most research papers about parallel kinematic chainmechanisms investigate symmetric robot manipulators, in which all the limbs connecting the end-effector to the fixed based are composed by the same sequence of links and joints. Contrarily, in some manipulation tasks the velocity and stiffness requirements are anisotropic. In such cases, the asymmetric parallel kinematic chain mechanisms may offer advantages. This work objective is to present the synthesis, dynamic modeling and analysis of a 3-dof asymmetric parallel chain mechanism, conceived as a robot manipulator for pick-and-place operations. Firs＇t, a structural synthesis, resulting in a three translations end-effector, and a kinematic modeling are carried out. Then, the inverse dynamic modeling is developed by employing the virtual work principle. Based on the model equations and on the saturation of the mechanism actuators, a maximum acceleration analysis is performed and shows that although the mechanism has a parallel architecture its actuators influences on the 3-dof are quite decoupled.

关 键 词：PARALLEL ASYMMETRIC SYNTHESIS DYNAMIC modeling. 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TH112[自动化与计算机技术—控制科学与工程]