Mobility and constant-orientation workspace analysis of 4UPS-UPU parallel mechanism  

作　　者：雷静桃 Hu Lei Cao Yuanlong Wang Tianmiao 

机构地区：[1]School of Mechatronic Engineering and Automation,Shanghai University [2]School of Mechanical Engineering and Automation,Beihang University

出　　处：《High Technology Letters》2014年第2期124-130,共7页高技术通讯（英文版）

基　　金：Supported by the National High Technology Research and Development Programme of China(No.SS2012AA041604)

摘　　要：One of the key issues for parallel mechanism is the kinematic characteristics,especially the workspace which varies with configuration parameters.A kind of 4UPS-UPU parallel mechanism is designed and its workspace is studied in this paper.First,the mobility of the 4UPS-UPU parallel mechanism is analyzed based on the reciprocal screw theory,and the motion and constraint screw systems of the parallel mechanism are obtained.Then the inverse kinematics is derived by the closed-form kinematics chain.The boundary search method in the polar coordinate system is presented to analyze the constant-orientation workspace of the parallel mechanism.Finally,the influence factors relevant to the workspace,such as the structural parameters and kinematics parameters are analyzed in detail.The relationship between the workspace volume and different parameters are obtained.The conclusions can be used for parameters optimization and path planning of the parallel mechanism.One of the key issues for parallel mechanism is the kinematic characteristics, especially the workspace which varies with configuration parameters. A kind of 4UPS-UPU parallel mechanism is designed and its workspace is studied in this paper. First, the mobility of the 4UPS-UPU parallel mechanism is analyzed based on the reciprocal screw theory, and the motion and constraint screw systems of the parallel mechanism are obtained. Then the inverse kinematics is derived by the closed-form kinematics chain. The boundary search method in the polar coordinate system is presented to analyze the constant-orientation workspace of the parallel mechanism. Finally, the influence factors relevant to the workspace, such as the structural parameters and kinematics parameters are analyzed in detail. The relationship between the workspace volume and different parameters are obtained. The conclusions can be used for parameters optimization and path planning of the parallel mechanism.

关 键 词：parallel mechanism （PM） screw theory MOBILITY boundary search method WORKSPACE 

分 类 号：TP338.6[自动化与计算机技术—计算机系统结构]