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

doi:10.1007/s11633-020-1255-y

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	Type Synthesis and Dynamics Performance Evaluation of a Class of 5-DOF Redundantly Actuated Parallel Mechanisms
	Bing-Shan Jiang; Hai-Rong Fang; Hai-Qiang Zhang
发表期刊	International Journal of Automation and Computing
ISSN	1476-8186
	2021
卷号	18 期号:1 页码:96-109
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
DOI	10.1007/s11633-020-1255-y
引用统计	被引频次：3[WOS] [WOS记录] [WOS相关记录]
文献类型	期刊论文
条目标识符	http://ir.ia.ac.cn/handle/173211/42457
专题	学术期刊_Machine Intelligence Research
作者单位	School of Mechanical, Electronic and Control Engineering, Beijing Jiaotong University, Beijing 100044, China
推荐引用方式 GB/T 7714	Bing-Shan Jiang,Hai-Rong Fang,Hai-Qiang Zhang. Type Synthesis and Dynamics Performance Evaluation of a Class of 5-DOF Redundantly Actuated Parallel Mechanisms[J]. International Journal of Automation and Computing,2021,18(1):96-109.
APA	Bing-Shan Jiang,Hai-Rong Fang,&Hai-Qiang Zhang.(2021).Type Synthesis and Dynamics Performance Evaluation of a Class of 5-DOF Redundantly Actuated Parallel Mechanisms.International Journal of Automation and Computing,18(1),96-109.
MLA	Bing-Shan Jiang,et al."Type Synthesis and Dynamics Performance Evaluation of a Class of 5-DOF Redundantly Actuated Parallel Mechanisms".International Journal of Automation and Computing 18.1(2021):96-109.

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