Type Synthesis and Analysis of a Family of Novel Roll-Pitch Platform with Virtual Rotation Axis
LI Erwei1,2, ZHAO Tieshi1,2, CHEN Yuhang1,2, WANG Chang3, ZHAO Yanzhi1,2, BIAN Hui1,2
1. Parallel Robot and Mechatronic System Laboratory of Hebei Province, Yanshan University, Qinhuangdao 066004, China;
2. Key Laboratory of Advanced Forging & Stamping Technology and Science }(Yanshan University), Ministry of Education, Qinhuangdao 066004, China;
3. Technology Research Institute for Heavy Machinery, China First Heavy Industries, Dalian 116600, China
李二伟, 赵铁石, 陈宇航, 王唱, 赵延治, 边辉. 一类含有虚拟转轴的新型摇摆台构型综合与分析[J]. 机器人, 2016, 38(1): 41-48.DOI: 10.13973/j.cnki.robot.2016.0041.
LI Erwei, ZHAO Tieshi, CHEN Yuhang, WANG Chang, ZHAO Yanzhi, BIAN Hui. Type Synthesis and Analysis of a Family of Novel Roll-Pitch Platform with Virtual Rotation Axis. ROBOT, 2016, 38(1): 41-48. DOI: 10.13973/j.cnki.robot.2016.0041.
To satisfy the demands of bearing capacity and loading space for large-scale heavy-load motion simulation, a family of novel roll-pitch platform mechanisms with a virtual rotation axis are synthesized based on the principle of equivalent substitution of kinematic chain and the existence condition of rotation axes in parallel mechanisms. The structure features and DoF (degree of freedom) properties of the roll-pitch platform mechanism are analyzed by using constraint-screw system discriminance. On the basis of actuating selection, kinematic and dynamic models of the 2-RPR-RRRAU-III-E+2-SPU mechanism, a representable type of this family, are derived by screw theory. A numerical example is applied to analyzing a type of mechanism with prospects for engineering applications. This mechanism not only has large loading space, but also can realize static-load balancing, which will be available for large-scale heavy-load motion simulation platform.
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