Spatial and Planar Lower Mobility Parallel Mechanisms with Multiple Rotation Centers
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Spatial and Planar Lower Mobility Parallel Mechanisms with Multiple Rotation Centers
Mon, 24/09/2018 - 14:15 to 15:00
Location:
Speaker:
Dr. Ziming Chen
Affiliation:
Yanshan University, China
Synopsis:
Parallel mechanisms (PMs) with two rotational and one translational (2R1T) degrees of freedom (DOFs) can be divided into various categories due to their different motion patterns. In this study, the 2R1T PMs can realize both continuous rotations about fixed axes and continuous translation along fixed directions are studied. They can be called as 3-RSR equivalent PMs. The branch design of the 3-RSR equivalent 2R1T PMs is dealt with using the screw theory and the subchain method. A group of novel 3-RSR equivalent 2R1T PMs are obtained. Similar to the spatial 2R1T PMs, a 2-DOF planar mechanism with axisymmetric structure is proposed. The end effector can rotate around a fixed point to reach any postures. The workspace is analyzed and the motion planning of the continuous rotations is carried out. Two numerical examples are given to show the continuous motions of this mechanism and a prototype is designed to verify the motion characteristics. This work lays the foundation for the practical application of spatial and planar mechanisms with multiple rotation centers.
Biography:
Dr Ziming Chen obtained his PhD degree in Mechanical Engineering at the Yanshan University, China in Jan 2013. He is an associate professor at Yanshan University. His research area focuses on the design theory, analysis and optimization of parallel mechanisms. Now he is a visiting scholar at Heriot-Watt University.