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Design of a family of multi-DOF drive systems for fewer limb parallel mechanisms
Mechanism and Machine Theory ( IF 5.2 ) Pub Date : 2020-06-01 , DOI: 10.1016/j.mechmachtheory.2020.103802
Luquan Li , Yuefa Fang , Lin Wang

Abstract Inspired by fewer-limb multi-degree-of-freedom (DOF) parallel mechanisms (PMs), a systematic method that synthesizes multi-DOF drive systems is presented based on Lie group theory. Multi-DOF drive systems can generate more DOFs motion than a pure rotation or a pure translation. The benefit of such multi-DOF drive systems is that all motors are mounted on a fixed base. The topological structures of novel single-loop PMs and multi-DOF drive systems are proposed. A class of 2-DOF drivers are designed. The motion types of the multi-DOF drive systems are systematically synthesized based on Lie group theory. Moreover, a family of 3-DOF drive systems are developed based on the designed 2-DOF drivers and synthesized motion types. Multi-DOF drive systems play a key role in simplifying the structure of PMs to improve the motion characteristics of PMs. A novel single-loop PM is designed to illustrate the application of the designed multi-DOF drive system, and kinematics analysis is performed to reveal the motion characteristics of the single-loop PM with the novel multi-DOF drive system.

中文翻译:

用于较少肢体并联机构的一系列多自由度驱动系统的设计

摘要 受少肢多自由度(DOF)并联机构(PMs)的启发,基于李群理论提出了一种综合多自由度驱动系统的系统方法。多自由度驱动系统可以产生比纯旋转或纯平移更多的自由度运动。这种多自由度驱动系统的好处是所有电机都安装在固定底座上。提出了新型单回路永磁电机和多自由度驱动系统的拓扑结构。设计了一类二自由度驱动器。基于李群理论系统地综合了多自由度驱动系统的运动类型。此外,基于设计的 2-DOF 驱动器和合成运动类型开发了一系列 3-DOF 驱动系统。多自由度驱动系统在简化永磁电机的结构以改善永磁电机的运动特性方面发挥着关键作用。设计了一种新型单回路永磁电机来说明所设计的多自由度驱动系统的应用,并通过运动学分析揭示了具有新型多自由度驱动系统的单回路永磁电机的运动特性。
更新日期:2020-06-01
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