Parasitic motion comparison of 3-PRS parallel mechanism with different limb arrangements

Li, Qinchuan; Chen, Zhi; Chen, Qiao‐Hong; Chen, Wu; Hu, Xudong

doi:10.1016/j.rcim.2010.08.007

Cited by 89 publications

(50 citation statements)

References 20 publications

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“…The first method is to tune the structural parameters and material properties without changing the type of flexure mechanisms. Li et al [7,8] analyzed a family of [PP]S parallel mechanisms and took the 3-PRS parallel mechanism as an example to reveal the relationship between structural parameters and parasitic motion, and then showed the necessary structural condition for a 3-PRS parallel mechanism without parasitic motion. However, it is rather difficult to eliminate the parasitic motion by optimizing the geometrical parameters.…”

Section: Open Accessmentioning

confidence: 99%

Effect of Degree-of-Symmetry on Kinetostatic Characteristics of Flexure Mechanisms: A Comparative Case Study

Zhang

et al. 2018

Chin. J. Mech. Eng.

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The current research of kinetostatic characteristics in flexure mechanisms mainly focus on the improvement of accuracy. To reduce or eliminate the parasitic motion is considered as an approach by using the common knowledge of symmetry. However, there is no study on designing the flexure mechanisms with symmetrical features as many as possible for better kinetostatic performance, when considering the resulting cost by the symmetry. In this paper, the concept of degree of symmetry (DoS) is proposed for the first time, which is committed to symmetry design in the phase of conceptual design. A class of flexure mechanisms with 0-DoS, 1-DoS, 2-DoS and 3-DoS are synthesized respectively based on the Freedom and Constraint Topology method. Their overall compliance matrices in an analytical form formulated within the framework of the screw theory are used to analyze and compare the effect of different number of DoS on the kinetostatic characteristics for flexure mechanisms. The finite element analysis (FEA) simulations are implemented to verify the analytical results. These results show that the higher the DoS is, the smaller the parasitic motion error will be. The flexure model with 3-DoS is optimized according to the overall compliance matrix and then tested by using the FEA simulation. The testing result shows that with the best combination parameters, the parasitic motion error for 3-DoS mechanism is almost eliminated. This research introduces a design principle which can alleviate the unwanted parasitic motion for better accuracy.

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Section: Open Accessmentioning

confidence: 99%

Effect of Degree-of-Symmetry on Kinetostatic Characteristics of Flexure Mechanisms: A Comparative Case Study

Zhang

et al. 2018

Chin. J. Mech. Eng.

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“…Here, we can derive two parasitic motions instead of three; this is different to [10] and [18] because zero-Torsion T&T angles are used to describe the orientation of the platform.…”

Section: Inverse Kinematic Analysismentioning

confidence: 99%

A Comparison Study on Motion/Force Transmissibility of Two Typical 3-DOF Parallel Manipulators: The Sprint Z3 and A3 Tool Heads

Chen

Liu

Xie

et al. 2014

International Journal of Advanced Robotic Systems

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This paper presents a comparison study of two important three-degree-of-freedom (DOF) parallel manipulators, the Sprint Z3 head and the A3 head, both commonly used in industry. As an initial step, the inverse kinematics are derived and an analysis of two classes of limbs is carried out via screw theory. For comparison, three transmission indices are then defined to describe their motion/force transmission performance. Based on the same main parameters, the compared results reveal some distinct characteristics in addition to the similarities between the two parallel manipulators. To a certain extent, the A3 head outperforms the common Sprint Z3 head, providing a new and satisfactory option for a machine tool head in industry.

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“…While for the second category, the two long guideways will influence accuracy and cooperation performance of the 5-DoF PKM. Moreover, the parasitic motion in the 3-DoF pose parallel mechanism [18] may lead to the increment of the control cost. Driven by these problems, the authors of this paper proposed a novel 5-DoF PKM (hereafter referred to as 'T5 PKM') [19], whose servomotors are all arranged adjacent to the fixed base to reduce the weight of the 2-DoF rotating head and avoid integration with two long guideways.…”

Section: Introductionmentioning

confidence: 99%

Stiffness analysis and experiment of a novel 5-DoF parallel kinematic machine considering gravitational effects

Lian

Sun

Song

et al. 2015

International Journal of Machine Tools and Manufacture

116

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a b s t r a c tIn order to carry out high-precision machining of aerospace structural components with large size, thin wall and complex surface, this paper proposes a novel parallel kinematic machine (PKM) and formulates its semi-analytical theoretical stiffness model considering gravitational effects that is verified by stiffness experiments. From the viewpoint of topology structure, the novel PKM consists of two substructures in terms of the redundant and overconstrained parallel mechanisms that are connected by two interlinked revolute joints. The theoretical stiffness model of the novel PKM is established based upon the virtual work principle and deformation superposition principle after mapping the stiffness models of substructures from joint space to operated space by Jacobian matrices and considering the deformation contributions of interlinked revolute joints to two substructures. Meanwhile, the component gravities are treated as external payloads exerting on the end reference point of the novel PKM resorting to static equivalence principle. This approach is proved by comparing the theoretical stiffness values with experimental stiffness values in the same configurations, which also indicates equivalent gravity can be employed to describe the actual distributed gravities in an acceptable accuracy manner. Finally, on the basis of the verified theoretical stiffness model, the stiffness distributions of the novel PKM are illustrated and the contributions of component gravities to the stiffness of the novel PKM are discussed.

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Parasitic motion comparison of 3-PRS parallel mechanism with different limb arrangements

Cited by 89 publications

References 20 publications

Effect of Degree-of-Symmetry on Kinetostatic Characteristics of Flexure Mechanisms: A Comparative Case Study

Effect of Degree-of-Symmetry on Kinetostatic Characteristics of Flexure Mechanisms: A Comparative Case Study

A Comparison Study on Motion/Force Transmissibility of Two Typical 3-DOF Parallel Manipulators: The Sprint Z3 and A3 Tool Heads

Stiffness analysis and experiment of a novel 5-DoF parallel kinematic machine considering gravitational effects

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