A novel 3-PUU parallel mechanism and its kinematic issues

作者：Wang Liping; Xu Huayang; Guan Liwen^*; Zhi Yu

来源：Robotics and Computer-Integrated Manufacturing, 2016, 42: 86-102.

DOI：10.1016/j.rcim.2016.05.003

• Parallel mechanism
• 3-PUU
• 2R1T DOFs
• Mobility analysis
• Kinematics analysis

The modules of parallel tool heads with 2R1T degrees of freedom (DOFs), i.e., two rotational DOFs and one translational DOF, have become so important in the field of machine tools that corresponding research has attracted extensive attention from both academia and industry. A 3-PUU parallel mechanism with 2R1T DOFs is first proposed in this paper, and a detailed discussion about its architecture and geometry constraints are presented. Furthermore, the mobility analysis of the proposed 3-PUU mechanism is carried out by resorting to the reciprocal screw theory. In addition, on the basis of its special geometry constraint conditions, the parasitic motion of 3-PUU mechanism is derived and explicitly expressed. Then the inverse kinematics problem (IKP), the Jacobian matrix calculation, and the forward kinematics problem (FKP) are investigated. At last, the motion/force transmissibility characteristics, the singularity properties, and the reachable workspace are discussed, respectively. The above analyses illustrate that the 3-PUU parallel mechanism owns good motion/force transmissibility and orientation capability, which validate the feasibility of applying this mechanism as a tool head module.

• 出版日期2016-12
• 单位清华大学