Type Synthesis and Dynamics Performance Evaluation of a Class of 5-DOF Redundantly Actuated Parallel Mechanisms  

作　　者：Bing-Shan Jiang Hai-Rong Fang Hai-Qiang Zhang 

机构地区：[1]School of Mechanical,Electronic and Control Engineering,Beijing Jiaotong University,Beijing 100044,China

出　　处：《International Journal of Automation and computing》2021年第1期96-109,共14页国际自动化与计算杂志（英文版）

基　　金：the Fundamental Research Funds for the Central Universities(No.2018 JBZ007).

摘　　要：This paper presents a five degree of freedom(5-DOF)redundantly actuated parallel mechanism(PM)for the parallel machining head of a machine tool.A 5-DOF single kinematic chain is evolved into a secondary kinematic chain based on Lie group theory and a configuration evolution method.The evolutional chain and four 6-DOF kinematic chain SPS(S represents spherical joint and P represents prismatic joint)or UPS(U represents universal joint)can be combined into four classes of 5-DOF redundantly actuated parallel mechanisms.That SPS-(2UPR)R(R represents revolute joint)redundantly actuated parallel mechanism is selected and is applied to the parallel machining head of the machine tool.All formulas of the 4SPS-(2UPR)R mechanism are deduced.The dynamic model of the mechanism is shown to be correct by Matlab and automatic dynamic analysis of mechanical systems(ADAMS)under no-load conditions.The dynamic performance evaluation indexes including energy transmission efficiency and acceleration performance evaluation are analyzed.The results show that the 4SPS-(2UPR)R mechanism can be applied to a parallel machining head and have good dynamic performance.

关 键 词：Type synthesis redundantly actuated parallel mechanism(PM) lie group theory configuration evolution dynamics performance evaluation 

分 类 号：TH112[机械工程—机械设计及理论]