Type synthesis for lower-mobility decoupled parallel mechanism with redundant constraints

Qu, Shuwei; Li, Ruiqin; Ma, Chunsheng; Li, Hong

doi:10.1007/s12206-021-0536-x

Cited by 7 publications

(2 citation statements)

References 29 publications

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“…Supposing the movement mode is R x R y R z T z , according to the movement and constraint relationship of the screw theory [18], the expected number of degrees of freedom is M(w, p), where w and p denote the number and the property of the degree of freedom required. Let the screw system of the mechanism be ¡…”

Section: Type Synthesis Of the Mechanismmentioning

confidence: 99%

Structure Design, Kinematics Analysis, and Effect Evaluation of a Novel Ankle Rehabilitation Robot

Yao

et al. 2023

Applied Sciences

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This paper presents a novel ankle rehabilitation (2-CRS+PU)&R hybrid mechanism, which can meet the size requirements of different adult lower limbs based on the three-movement model of the ankle. This model is related to three types of movement modes of the ankle movement, without axis offset, which can cover the ankle joint movements. The inverse and forward position/kinematics results analysis of the mechanism is established based on the closed-loop vector method and using the optimization of particle groups algorithm. Four groups of position solutions of the mechanism are obtained. The kinematics simulation is analyzed using ADAMS software. The variations of the velocity and acceleration of all limbs are stable, without any sudden changes, which can effectively ensure the safety and comfort of the ankle model end-user. The dexterity of the mechanism is analyzed based on the transport function, and the results indicate that the mechanism has an excellent transfer performance in yielding the structure parameters. Finally, the rehabilitation evaluation is conducted according to the three types of movement modes of the ankle joint. The results show that this ankle rehabilitation mechanism can provide a superior rehabilitation function.

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Section: Type Synthesis Of the Mechanismmentioning

confidence: 99%

Structure Design, Kinematics Analysis, and Effect Evaluation of a Novel Ankle Rehabilitation Robot

Yao

et al. 2023

Applied Sciences

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“…The decoupling mechanism has the advantages of simple control and high output precision. To date, many scholars have done a lot of work on the design and analysis of decoupled parallel mechanisms (Tian et al, 2019;Zhang et al, 2020;Qu et al, 2021;Wu et al, 2021).…”

Section: Introductionmentioning

confidence: 99%

Kinematic analysis and bearing capacity optimization of fully decoupled two-rotation mechanisms

Wang,

Han,

et al. 2024

Mech. Sci.

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Abstract. The existing vehicle durability test platform has low accuracy in reproducing the road spectrum and cannot meet the demand for high-accuracy road spectrum reproduction. In order to meet the need for high accuracy in road spectrum reproduction of vehicle durability tests, this paper is based on an analysis of the factors affecting the accuracy of the test platform. From the perspective of mechanism innovation, a fully decoupled two-rotation parallel mechanism with large load-bearing capacity for vehicle durability testing is proposed in this paper. A new solution is provided to improve the road spectrum reproduction accuracy of the test platform. Based on the requirement of reproduction accuracy of a real road spectrum, inverse kinematics, velocity Jacobians, and workspaces of mechanisms are analyzed. The inverse kinematics and velocity Jacobian analysis of parallel mechanisms can lay a research foundation for the subsequent calculation of load-bearing capacity indexes. The design of the parallel mechanism is based on the performance requirements of large load capacity and complete decoupling. A new index for evaluating the global average carrying capacity of a mechanism is proposed. Based on this index and the atlas method, the dimensional parameters of the mechanism have been optimized. A finite-element simulation study is carried out, and it is proved that the optimized fully decoupled two-rotation parallel mechanism can satisfy the bearing capacity requirements of the platform test. The large load capacity and fully decoupled mechanism proposed in the research work of this paper can improve the road spectrum reproduction accuracy of the vehicle durability test platform and has good application prospects in the field of vehicle durability tests.

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Type Synthesis of Six Degrees of Freedom Parallel Mechanism with Decoupled Translation and Rotation

Liu

Lu²,

Zeng³

et al. 2022

Intelligent Robotics and Applications

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Type synthesis for lower-mobility decoupled parallel mechanism with redundant constraints

Cited by 7 publications

References 29 publications

Structure Design, Kinematics Analysis, and Effect Evaluation of a Novel Ankle Rehabilitation Robot

Structure Design, Kinematics Analysis, and Effect Evaluation of a Novel Ankle Rehabilitation Robot

Kinematic analysis and bearing capacity optimization of fully decoupled two-rotation mechanisms

Type Synthesis of Six Degrees of Freedom Parallel Mechanism with Decoupled Translation and Rotation

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