A Numerical Solution of Coupler Curve and Orientation for Reconfigurable Single-driven 3-RRR Planar Parallel Mechanism

LI Xiang;LI Ruiqin;LI Hui;NING Fengping

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  • Sponsored by: China Association for Science and Technology (CAST)

    Editor-In-Chief: Xu Yida

    ISSN 1000-1093

    　

  • Hosted By: China Ordnance Society

    Published By: Acta Armamentarii

    CN 11-2176/TJ

Acta Armamentarii, a Chinese monthly journal, was first published in 1979. The journal is supervised by China Association for Science and Technology, sponsored by China Ordnance Society，and edited and published by Editorial Board of Acta Armamentarii. The Journal is included in all important domestic databases，and also collected by Engineering Index (EI, USA), Chemical Abstracts (CA, USA), Science Abstracts (SA, UK）, Abstract Journal (AJ, Russia), and Current Bibliography on Science and Technology(CBST).Acta Armamentarii has been selected into the journal Of Ordnance Science and Technology (Weapons Industry) Field Of High Quality Scientific and Technological Periodical Classification Catalogue (2022 edition), ranking T1, and the journal of Automotive Engineering Field of High Quality Scientific and technological Periodical classification Catalogue, ranking T2.
Acta Armamentarii ›› 2021, Vol. 42 ›› Issue (5) : 1074-1082. DOI: 10.3969/j.issn.1000-1093.2021.05.020
Paper

A Numerical Solution of Coupler Curve and Orientation for Reconfigurable Single-driven 3-RRR Planar Parallel Mechanism

  • LI Xiang， LI Ruiqin， LI Hui， NING Fengping
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Abstract

For complex driving and control and high energy consumption of 3-DOF 3-RRR planar parallel mechanism，the parallelogram kinematic chain is used to constrain the mechanism to a single-driven 3-RRR planar parallel mechanism. The coupler curve and orientation of the single-driven 3-RRR planar parallel mechanism are calculated using numerical method. The influence of reconfiguration on the coupler curve and orientation are analyzed. The input-output (IO) equation of the mechanism is derived based on Freudenstein equation. The numerical solution method of the equation is established using iterative algorithm. By changing the initial input angle of the mechanism，a reconfigurable method of mechanism configuration is proposed. A set of mechanism parameters was given as numerical example, and two kinds of configurations of the mechanism，which are called configuration I and configuration II，were obtained. The variations of coupler curve and orientation with the input angle for configuration I and reconfigured configuration I were obtained. Results show that the theoretical curves are consistent with the simulated curves, and the solution method is correct. The reconfiguration can significantly change the coupler curve and orientation of configuration I.

Key words

3-RRRplanarparallelmechanism / single-driven / input-outputequation / reconfiguration / couplercurve

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LI Xiang， LI Ruiqin， LI Hui， NING Fengping. A Numerical Solution of Coupler Curve and Orientation for Reconfigurable Single-driven 3-RRR Planar Parallel Mechanism. Acta Armamentarii. 2021, 42(5): 1074-1082 https://doi.org/10.3969/j.issn.1000-1093.2021.05.020

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