Abstract
A 3T parallel mechanism is designed according to the principle of single-opened-chain—Position Orientation Characteristics. The relative direction and position characteristics of the motion pair axis of the mechanism are analyzed, and the connection mode of the mechanism and the motion output characteristics of the mechanism are determined. The correctness of the proposed method is demonstrated by calculating that the degree of freedom of the parallel mechanism is equal to the rank of the motion output characteristics of the mechanism. On this basis, according to the position orientation characteristics, the influence of the axis deviation of the kinematic pair on the output characteristics of the mechanism moving platform is explored, and the single opened chain-space vector error method is proposed to establish the error model of the axis deviation of the kinematic pair. MATLAB simulation is used to analyze the simulation results. The results show that the axis deviation of the kinematic pair affects the output characteristics of the parallel mechanism, which leads to the motion error of the moving platform and affects the output accuracy of the parallel mechanism. The research results enrich the error modeling analysis of parallel mechanism, effectively guide the configuration of kinematic pairs in the mechanism and effectively control the axis deviation of kinematic pairs, and provide a theoretical basis for the design and application of high-precision mechanisms.
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Wang, Y., Gao, M., Wang, D. (2022). Synthesis and Error Characteristics Analysis of 3T Parallel Mechanism Based on Single-Opened-Chain—Position Orientation Characteristics. In: Tan, J. (eds) Advances in Mechanical Design. ICMD 2021. Mechanisms and Machine Science, vol 111. Springer, Singapore. https://doi.org/10.1007/978-981-16-7381-8_73
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DOI: https://doi.org/10.1007/978-981-16-7381-8_73
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