Kinematics of a Dynamically Connected Parallel-Parallel Mechanism Based on Screw Theory

Y. Li ； Y. Ma ； X. Guo

《Proceedings of the 14th IFToMM World Congress》 14th-3 (2015/10) Pp. 162-169

https://doi.org/10.6567/IFToMM.14TH.WC.OS13.036

並列摘要

A new hybrid parallel-parallel mechanism whose inner ring and outer ring are dynamically connected by a rolling bearing is proposed in this paper. There are both interrelated movements and relatively independent movements between the two parallel mechanisms. This feature makes it can be applied to some special and practical occasions. For example, it can be used to detect the capability and the life-span of the main rotor spherical bearing of a helicopter through simulating the movement of the rotating and non-rotating swashplate simultaneously. Based on screw theory and according to its own characteristics, the degree of freedom of the hybrid mechanism is obtained, and also the kinematics model is formulated, which has described the inverse kinematics and forward kinematics. Finally, the workspace of the mechanism is illustrated on the basis of inverse position solution. The results provide a great basis for further research such as velocity analysis or dynamics.

並列關鍵字

Kinematics ； Parallel-parallel mechanism ； Dynamically connect ； Screw theory