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Research Papers

A Class of Symmetrical 3T, 3T-1R, and 3R Mechanisms With Parallel Linear Motion Elements

[+] Author and Article Information
Yi Yang

School of Mechatronic
Engineering and Automation,
Shanghai University,
Shanghai 200444, China
e-mail: yiyangshu@t.shu.edu.cn

Wuxiang Zhang

School of Mechanical
Engineering and Automation,
Beihang University,
Beijing 100086, China;
Beijing Advanced Innovation Center
for Biomedical Engineering,
Beihang University,
Beijing 100086, China
e-mail: zhangwuxiang@buaa.edu.cn

Huayan Pu

School of Mechatronic
Engineering and Automation,
Shanghai University,
Shanghai 200444, China
e-mail: puhuayanshu82@sina.com

Yan Peng

School of Mechatronic
Engineering and Automation,
Shanghai University,
Shanghai 200444, China
e-mail: pengyanshu82@sina.com

1Corresponding author.

Contributed by the Mechanisms and Robotics Committee of ASME for publication in the JOURNAL OF MECHANISMS AND ROBOTICS. Manuscript received December 5, 2017; final manuscript received June 26, 2018; published online August 6, 2018. Assoc. Editor: Damien Chablat.

J. Mechanisms Robotics 10(5), 051016 (Aug 06, 2018) (18 pages) Paper No: JMR-17-1403; doi: 10.1115/1.4040885 History: Received December 05, 2017; Revised June 26, 2018

A kind of kinematic chain with parallel linear motion elements (PLMEs) is proposed and studied in this paper. Based on screw theory, the kinematic screw equations of these linkages are established. The two special categories of PLMEs, with pure translational motion and with pure rotational motion respectively, are identified. The mobilities and the singularities of these kinematic chains are also investigated. By the utilization of these PLMEs, three types of the compound limbs are invented and analyzed. Through assembling these compound limbs in different ways, a class of lower mobility symmetrical 3T, 3T-1R, and 3R mechanisms is synthesized and presented for the first time. The simplified kinematic equations for this class of mechanisms driven by the linear actuators are derived. And the workspaces, singularities, and kinematic performance are addressed. Finally, three typical prototypes with regard to 3T, 3T-1R, and 3R mechanisms are manufactured and experimented to validate the mobility and motion feasibility of these mechanisms.

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References

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Figures

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Fig. 1

Kinematic chain with PLMEs

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Fig. 2

Platform with pure translational motion

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Fig. 3

Singularity of PLEMs

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Fig. 4

Platform with pure rotational motion

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Fig. 5

One-dimension rotational mechanism

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Fig. 6

PLMEs limbs with SLEs: (a) platform with pure translational motion and (b) platform with pure rotational motion

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Fig. 7

Singularity of type II limb: (a)θ1=(π/2) and (b) Coaxis

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Fig. 8

Optimized limbs: (a) limb with pure translational motion and (b) limb with pure rotational motion

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Fig. 9

Kinematic diagram of 3T mechanism

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Fig. 10

Kinematic diagram of 3T-1R mechanism

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Fig. 11

Kinematic diagram of 3R mechanism

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Fig. 12

Singularity of 3R mechanism: (a) config. 1, (b) config. 2, and (c) config. 3

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Fig. 13

Workspace of 3T mechanism: (a) oblique view, (b) top view, and (c) front view, and (d) right view

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Fig. 14

Condition number of the Jacobian matrix of 3T mechanism

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Fig. 15

Workspace of 3T-1R mechanism with α=0deg,45deg,90deg: (a) oblique view, (b) top view, (c) front view, and (d) right view

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Fig. 16

Condition number of the Jacobian matrix of 3T-1R mechanism: (a) α=0deg, (b) α=45deg, (c) α=90deg

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Fig. 17

Workspace of 3R mechanism: (a) oblique view, (b) top view, (c) front view, and (d) right view

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Fig. 18

Condition number of the Jacobian matrix of 3R mechanism

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Fig. 19

Prototype and experiments of PLMEs: (a) pure translational motion and (b) pure rotational motion

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Fig. 20

Prototype and experiments of 3T mechanism: (a) exploded view, (b) prototype, (c) moving up, (d) moving right, (e) moving back, and (f) moving left

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Fig. 21

Prototype and experiments of 3T-1R mechanism: (a) exploded view, (b) prototype, (c) moving up, (d) moving right, (e) moving back, (f) moving left, (g) moving front, and (h) rotating

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Fig. 22

Prototype and experiments of 3R mechanism: (a) exploded view, (b) prototype, (c) rotating along -z axis, (d) rotating along +z axis, (e) rotating along -x axis, and (f) rotating along +y axis

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