Open Journal of Mechanical Engineering (OJME)

TYPE SYNTHESIS AND FORWARD DISPLACEMENT ANALYSIS OF PARALLEL MANIPULATOR WITH TWO EQUIVALENT COMPOSITE UNIVERSAL JOINTS

ABSTRACT

 

TYPE SYNTHESIS AND FORWARD DISPLACEMENT ANALYSIS OF PARALLEL MANIPULATOR WITH TWO EQUIVALENT COMPOSITE UNIVERSAL JOINTS

Journal: Open Journal of Mechanical Engineering (OJME)
Author: Yi Lu, Yang Liu, Yansheng Dong

This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited

DOI: 10.26480/ojme.01.2017.15.21

The parallel manipulators (PMs) with equivalent composite universal joints Ue are synthesized and a closed forward displacement analysis is performed for a novel 5-DoF parallel manipulator (PM) with 2 equivalent composite universal joints Ue. First, ten novel parallel manipulators (PMs) with equivalent composite universal joints Ue are synthesized. Second, the kinematic model of a 5-DoF 4SPS+SPR PM with 2 composite spherical joints Sc are established. Third, the novel 5-DoF PM with 2Ue is created based on 4SPS+SPR PM by replacing each of 2Sc with Ue, and the formulae are derived for solving forward displacement of the proposed 5-DoF PM with 2Ue. Finally, an analytic example is given for solving the forward displacement of proposed 5-DoF PM with 2Ue, and the analytic solved results are verified by the simulation mechanism using CAD variation geometry.
Pages 15-21
Year 2017
Issue 1
Volume 1

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