摘要
Although it is common to eliminate the singularity of parallel mechanism by adding the branched chain with actuation redundancy, there is no theory and method for the configuration synthesis of the branched chain with actuation redundancy in parallel mechanism. Branched chains with actuation redundancy are synthesized for eliminating interior singularity of 3-translational and 1-rotational（3T1R） parallel mechanisms. Guided by the discriminance method of hybrid screw group according to Grassmann line geometry, all the possibilities are listed for the occurrence of interior singularities in 3T1R parallel mechanism. Based on the linear relevance of screw system and the principles of eliminating parallel mechanism singularity with actuation redundancy, different types of branched chains with actuation redundancy are synthesized systematically to indicate the layout and the number of the branched chainsinterior with actuation redundancy. A general method is proposed for the configuration synthesis of the branched chains with actuation redundancy of the redundant parallel mechanism, and it builds a solid foundation for the subsequent performance optimization of the redundant actuation parallel mechanism.
Although it is common to eliminate the singularity of parallel mechanism by adding the branched chain with actuation redundancy, there is no theory and method for the configuration synthesis of the branched chain with actuation redundancy in parallel mechanism. Branched chains with actuation redundancy are synthesized for eliminating interior singularity of 3-translational and 1-rotational（3T1R） parallel mechanisms. Guided by the discriminance method of hybrid screw group according to Grassmann line geometry, all the possibilities are listed for the occurrence of interior singularities in 3T1R parallel mechanism. Based on the linear relevance of screw system and the principles of eliminating parallel mechanism singularity with actuation redundancy, different types of branched chains with actuation redundancy are synthesized systematically to indicate the layout and the number of the branched chainsinterior with actuation redundancy. A general method is proposed for the configuration synthesis of the branched chains with actuation redundancy of the redundant parallel mechanism, and it builds a solid foundation for the subsequent performance optimization of the redundant actuation parallel mechanism.
基金
Supported by Research Fund for the Doctoral Program of Higher Education,China(Grant No.20131333110008)
作者简介
Corresponding author. E-mail： shli@ysu.edu.cn,LI Shihua, male, born in 1966, is a professor and a doctoral tutor of mechanical engineering at Yanshan University, China. His main research direction is the theory and application of parallel robot mechanism. Tel： ＋86-335-8387472; E-mail： shli@ysu.edu.cn.LIU Yanmin, female, born in 1978, is a PhD of mechanical and electrical engineering, mechanical engineering at Yanshan University, China, and a lecture at College of Mechanical Engineering, Hebei Vocationa ＆ Technical College of Building Materials. Her main research direction is the theory of parallel robotic mechanisms and application. E-mail： 107132716@qq.com.CUI Hongliu, female, born in 1988, is a master of mechanical and electrical engineering, mechanical engineering at Yanshan University, China. Her main research direction is the theory of parallel robotic mechanisms and application. E-mail： 807104789@qq.com.NIU Yunzhan, female, born in 1989, is a master of mechanical and electrical engineering, mechanical engineering, Yanshan University, China. Her main research direction is the theory of parallel robotic mechanisms and application. E-mail： 1046486208@qq.com.ZHAO Yanzhi, male, born in 1981, is an associate professor of mechanical engineering at Yanshan University, China. His main research direction is the theory of parallel robotic mechanisms and application. E-mail： yzzhao@ysu.edu.cn.
