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Frontiers of Mechanical Engineering

Front Mech Eng    2012, Vol. 7 Issue (2) : 210-218     https://doi.org/10.1007/s11465-012-0317-4
RESEARCH ARTICLE |
Parasitic rotation evaluation and avoidance of 3-UPU parallel mechanism
Haibo QU(), Yuefa FANG, Sheng GUO
Robotics Research Lab, School of Mechanical, Electronic and Control Engineering, Beijing Jiaotong University, Beijing 100044, China
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Abstract

Based on the prototype of 3-UPU (universal-prismatic-universal joint) parallel mechanism proposed by Tsai [1], the parasitic rotation evaluation is performed and calculated the bound of instability of SNU Seoul National University 3-UPU parallel mechanism. Through analysis of the terminal constraint system of the 3-UPU parallel mechanism, the equation about the parasitic rotation and limited clearance is presented. Then the norm of possible parasitic rotation is employed to evaluate the mechanism stability with limited clearance. The higher this number the worst is the pose, the lower it is the best it is. And the contour atlas of parasitic rotation is obtained, which can be used for further analysis and design. With the practice experiment result of SUN 3-UPU parallel mechanism, we find it’s bound of instability, which indicates there will appear the parasitic rotation when the number exceeds the bound. Finally, the method for avoidance of possible parasitic motions is presented by adding redundantly actuated limbs.

Keywords parallel mechanism      3-UPU (universal-prismatic-universal joint)      parasitic motions      limited clearance      redundantly actuated limbs     
Corresponding Authors: QU Haibo,Email:hbqu.andy@gmail.com   
Issue Date: 05 June 2012
 Cite this article:   
Haibo QU,Yuefa FANG,Sheng GUO. Parasitic rotation evaluation and avoidance of 3-UPU parallel mechanism[J]. Front Mech Eng, 2012, 7(2): 210-218.
 URL:  
http://journal.hep.com.cn/fme/EN/10.1007/s11465-012-0317-4
http://journal.hep.com.cn/fme/EN/Y2012/V7/I2/210
Fig.1  Twist and wrench in three-dimensional space
Fig.2  The 3-UPU parallel mechanism and its constraint system
Fig.3  Spatial atlas of when
Fig.4  Contour atlas of when
Fig.5  Spatial atlas of when
Fig.6  Contour atlas of when
Fig.7  SNU 3-UPU parallel mechanism. (a)SNU mechanism; (b) limb constraint system
Fig.8  The contour atlas of with certain value set of . (a) ; (b) ; (c) ; (d)
CasesConstraint wrenchesActuated wrenches
1C3$r,a
2C2
3C1
4None
Tab.1  The possible combinations of constraint wrenches and actuated wrenches
Fig.9  The 3-UPU/2-PRUC redundantly actuated parallel mechanism
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