Continuous Motion Modeling and Analysis of a New 2UPR-PRS Mechanism with Variable Rotation Axis
Since parallel mechanisms (PMs) have good stiffness, accuracy, and dynamic characteristics, a large number of PMs have been invented recently. A few kinds of them are found to have excellent performances, and one kind is two-rotational and one-translational (2R1T) PM. The existing research on 2R1T P...
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| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
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Wiley
2024-01-01
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| Series: | Journal of Robotics |
| Online Access: | http://dx.doi.org/10.1155/2024/9940263 |
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| _version_ | 1832546138645856256 |
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| author | Feiyang Shen Xueting Hu Hanyan Wang Shuofei Yang |
| author_facet | Feiyang Shen Xueting Hu Hanyan Wang Shuofei Yang |
| author_sort | Feiyang Shen |
| collection | DOAJ |
| description | Since parallel mechanisms (PMs) have good stiffness, accuracy, and dynamic characteristics, a large number of PMs have been invented recently. A few kinds of them are found to have excellent performances, and one kind is two-rotational and one-translational (2R1T) PM. The existing research on 2R1T PMs shows that this kind of mechanism has outstanding rotational properties and a well-translational workspace. Many 2R1T mechanisms with good performances have been proposed, among which the typical ones are 3PRS, 2UPR-SPR, and 3UPS-UP. Based upon the existing 2R1T mechanisms, a new 2R1T mechanism, 2UPR-PRS, is proposed and analyzed in this paper, which combines PRS and UPR chains, respectively, from 3PRS and 2UPR-SPR together. In this way, the high stiffness provided by the PRS chain and the variable rotational characteristics from two symmetric UPR chains are integrated into the proposed 2UPR-PRS mechanism. First, the conceptual design of this mechanism is carried out. Second, its inverse kinematics is solved. Finally, the mobility of the mechanism is analyzed by a newly developed method through a parameterizing twist in a continuous motion manner, and its kinematic model is thus formulated, revealing the rotational characteristics of the mechanism with the variable axis. |
| format | Article |
| id | doaj-art-6ffff8583ef3411797310632948c7337 |
| institution | Kabale University |
| issn | 1687-9619 |
| language | English |
| publishDate | 2024-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Journal of Robotics |
| spelling | doaj-art-6ffff8583ef3411797310632948c73372025-02-03T07:23:45ZengWileyJournal of Robotics1687-96192024-01-01202410.1155/2024/9940263Continuous Motion Modeling and Analysis of a New 2UPR-PRS Mechanism with Variable Rotation AxisFeiyang Shen0Xueting Hu1Hanyan Wang2Shuofei Yang3College of EngineeringCollege of EngineeringCollege of EngineeringCollege of EngineeringSince parallel mechanisms (PMs) have good stiffness, accuracy, and dynamic characteristics, a large number of PMs have been invented recently. A few kinds of them are found to have excellent performances, and one kind is two-rotational and one-translational (2R1T) PM. The existing research on 2R1T PMs shows that this kind of mechanism has outstanding rotational properties and a well-translational workspace. Many 2R1T mechanisms with good performances have been proposed, among which the typical ones are 3PRS, 2UPR-SPR, and 3UPS-UP. Based upon the existing 2R1T mechanisms, a new 2R1T mechanism, 2UPR-PRS, is proposed and analyzed in this paper, which combines PRS and UPR chains, respectively, from 3PRS and 2UPR-SPR together. In this way, the high stiffness provided by the PRS chain and the variable rotational characteristics from two symmetric UPR chains are integrated into the proposed 2UPR-PRS mechanism. First, the conceptual design of this mechanism is carried out. Second, its inverse kinematics is solved. Finally, the mobility of the mechanism is analyzed by a newly developed method through a parameterizing twist in a continuous motion manner, and its kinematic model is thus formulated, revealing the rotational characteristics of the mechanism with the variable axis.http://dx.doi.org/10.1155/2024/9940263 |
| spellingShingle | Feiyang Shen Xueting Hu Hanyan Wang Shuofei Yang Continuous Motion Modeling and Analysis of a New 2UPR-PRS Mechanism with Variable Rotation Axis Journal of Robotics |
| title | Continuous Motion Modeling and Analysis of a New 2UPR-PRS Mechanism with Variable Rotation Axis |
| title_full | Continuous Motion Modeling and Analysis of a New 2UPR-PRS Mechanism with Variable Rotation Axis |
| title_fullStr | Continuous Motion Modeling and Analysis of a New 2UPR-PRS Mechanism with Variable Rotation Axis |
| title_full_unstemmed | Continuous Motion Modeling and Analysis of a New 2UPR-PRS Mechanism with Variable Rotation Axis |
| title_short | Continuous Motion Modeling and Analysis of a New 2UPR-PRS Mechanism with Variable Rotation Axis |
| title_sort | continuous motion modeling and analysis of a new 2upr prs mechanism with variable rotation axis |
| url | http://dx.doi.org/10.1155/2024/9940263 |
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