parallel mechanism driven by prismatic pair

 

 

 

ZHONG Qi, LIU Gui jie, WANG An yi, ZHAI Yuan zhuang

 

(College of Engineering, Ocean University of China, Qingdao 266100, China)

 

 

Abstract: Aiming at determining the optimal structure parameters of Delta parallel mechanism driven by prismatic pair to meet the design requirements, the constraint equations, the reverse and positive solution equation of positions, the workspace and the Jacobi matrix of the mechanism were studied. On the basis of the analysis of the structure, the workspace resolution was done by analytical method and search method. The inscribed circle cylinder of the workspace is seen as a design space and its measurement parameters that have relationship with structural parameters were deduced. Then the jacobi matrix was deduced by vector diagram of branch chain. The distribution of the condition number of the matrix was obtained. The integral of the condition number in the workspace was obtained to evaluate operating performance. Finally the mechanism optimization was done to determine the optimal structure. The results indicate that the mechanism can meet the design requirement by the mechanism optimization that use the condition number and the measurement parameters of the workspace.

 

Key words: Delta parallel mechanism; workspace; jacobi matrix; mechanism optimization