3(3RPS) Parallelserial manipulator and its kinematics analysis

LIANG Hui, HU Tongshuai, WANG Lei, YANG Jiali

(College of Electromechanical Engineering, Qingdao University of Science and Technology, Qingdao 266061, China)

Abstract: Aiming at the kinematics and dynamics performance of parallel mechanism, a novel structurethe 3(3RPS) parallelserial manipulator was proposed, and its aspects of the kinematics were studied. The 3(3RPS) parallelserial manipulator structural features were introduced, and the degrees of freedom of the 3(3RPS) parallelserial manipulator were calculated based on screw theory and KutzbachGrüble formula. The velocity and the acceleration models of the 3(3RPS) parallelserial manipulator were established based on the theory of influence coefficient and screw theory, and the velocity and the acceleration theoretical models of the 3(3RPS) parallelserial manipulator were given. The kinematic simulation and mechanical analysis to the 3(3RPS) parallelserial manipulator were done by engineering analysis software ADAMS and Abaqus, and curves of velocity and acceleration of the top platform in space and distribution of stress deformation of mechanism were given. The results indicate that the degrees of freedom of the 3(3RPS) parallelserial manipulator are 9, and the velocity and the acceleration value are equal to the sum of the layers. The methodology for analyzing the 3(3RPS) parallelserial manipulator kinematics is also suitable for other parallelserial manipulators.

Key words: parallelserial manipulator; degrees of freedom; velocity; acceleration; simulation