Abstract

Parallel manipulation mechanisms are multiloop systems in which the parallel arrangement of the kinematic chains allows for the load capacity to be increased, the size and weight of every component to be reduced, and the movable links to be relieved of the gravity force of the actuators by locating them on a fixed base. In this article, the synthesis of a new parallel mechanism with an increased number of parallel loops for transmitting the power from the actuators to the output link is considered. A workspace has been constructed for the mock-up of the mechanism developed equipped with actuators of the translational and rotational movements of the output link. Dynamic analysis of the parallel mechanism with three kinematic chains has been performed considering the weights of the intermediate links.

中文翻译：

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运动链中多环动力传递确保并联运动的组动力学解耦并联机构

摘要

并联操纵机构是多回路系统，其中运动链的平行布置允许增加负载能力，减少每个组件的尺寸和重量，并通过以下方式释放可动连杆的执行器重力将它们放置在固定的基座上。在本文中，考虑了一种新的并行机制的合成，该机制具有更多数量的并行回路，用于将动力从执行器传输到输出链路。已经构造了一个工作空间，用于开发配备了输出连杆平移和旋转运动执行器的机构的模型。考虑到中间链节的权重，对具有三个运动链的并联机构进行了动力学分析。