article · Journal of Mechanical Engineering · 2020

Kinematically Identical Manipulators for an Asymmetric 3-PRS Parallel Manipulator and Their Constraint Performance Comparison Study

Bo Hu, Dongsheng Shi, Shi Yan-guo, Da Zhang, YE Nijia

Cited by 2Open access

Abstract

摘要：少自由度并联机构存在运动等效机构，表现为多种结构不同的机构运动学完全相同而性能各异，从具有运动等效特性的一组机构中遴选出性能优异的机型具有重要意义。基于运动等效机构的演化机理导出了一种非对称3-PRS机构的三种无过约束和三种含过约束的运动等效机构。基于运动/力传递指标对非对称3-PRS机构及其运动等效机构进行了优化设计，得到了优化尺寸区域。针对非对称3-PRS机构及其运动等效机构运动学相同而约束不同导致机构约束性能各异的特点，建立了此类机构的约束性能指标，在运动/力传递性能优化尺寸下，绘制了各机构的约束性能图谱，求解了各机构的全局约束指标，完成了此类机构的约束性能对比研究，实现了非对称3-PRS机构及其运动等效机构兼顾传递和约束性能的机构优选。

Cite this paper

APA 7

Hu, B., Shi, D., Yan-guo, S., Zhang, D., & Nijia, Y. (2020). Kinematically Identical Manipulators for an Asymmetric 3-PRS Parallel Manipulator and Their Constraint Performance Comparison Study. Journal of Mechanical Engineering, 56(3), 31. https://doi.org/10.3901/jme.2020.03.031

MLA 9

Hu, Bo, et al. “Kinematically Identical Manipulators for an Asymmetric 3-PRS Parallel Manipulator and Their Constraint Performance Comparison Study.” Journal of Mechanical Engineering, vol. 56, no. 3, 2020, p. 31, https://doi.org/10.3901/jme.2020.03.031.

Chicago

Hu, Bo, Dongsheng Shi, Shi Yan-guo, Da Zhang, and YE Nijia. 2020. “Kinematically Identical Manipulators for an Asymmetric 3-PRS Parallel Manipulator and Their Constraint Performance Comparison Study.” Journal of Mechanical Engineering 56 (3): 31. https://doi.org/10.3901/jme.2020.03.031.

Harvard

Hu, B. et al. (2020) ‘Kinematically Identical Manipulators for an Asymmetric 3-PRS Parallel Manipulator and Their Constraint Performance Comparison Study’, Journal of Mechanical Engineering, 56(3), p. 31. Available at: https://doi.org/10.3901/jme.2020.03.031.

BibTeX

@article{hu2020kinematically,
  title = {{Kinematically Identical Manipulators for an Asymmetric 3-PRS Parallel Manipulator and Their Constraint Performance Comparison Study}},
  author = {Hu, Bo and Shi, Dongsheng and Yan-guo, Shi and Zhang, Da and Nijia, YE},
  journal = {Journal of Mechanical Engineering},
  volume = {56},
  number = {3},
  pages = {31},
  year = {2020},
  doi = {10.3901/jme.2020.03.031}
}

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