A Comparison Study On Motion/force Transmission And Constrainability Of Asymmetric And Symmetrical 3-RUU Translational Mechanism

Parallel manipulators(PMs)with three translational degrees of freedom(DOFs)have caused intensive concern by related scholars because of its great application value in industrial engineering.This paper mainly studies the asymmetric and symmetrical 3-RUU parallel mechanism that can achieve three translation(3T).The asymmetric and symmetrical 3-RUU translational mechanism prototype has been designed and manufactured.The relevant experimental research work has been completed,kinematics characteristics of two prototypes have been tested.Taking the asymmetrical 3-RUU translational parallel mechanism as the research object,the geometric installation conditions for realizing three translational kinematics characteristics of asymmetrical 3-RUU parallel mechanism have been defined in actual production and manufacturing.Taking 3-RUU translational parallel mechanism as the research object,the process of input transmission index,output transmission index,local transmission index and output constraint index has been analyzed and calculated.The solving process of related global optimization index has been analyzed and calculated.The optimum dimension parameters of the mechanism have been completed.The input,output,local transmission performance and the output constraint performance of the mechanism has been analyzed under the condition of dimension parameter.The motion and force transmission performance and the constraint performance of the symmetric 3-RUU parallel mechanism after dimension optimization has been compared and analyzed.The design analysis of the adjustable motion pair,driving rotating pair and platform of asymmetric 3-RUU parallel prototype has been conducted.Machining process of main parts and assembly of prototype have been completed.And the selection process of driving joint stepper motor has been completed.The selection process of the driving joint stepping motor has been completed.Prototypes of asymmetric and symmetrical 3-RUU parallel mechanism have been built.The experimental research based on the prototype of the asymmetric and symmetrical 3-RUU parallel mechanism has been completed.Kinematics characteristics of asymmetric and symmetrical 3-RUU parallel prototype have been tested and basic work for the practical application of the 3-RUU parallel mechanism has been done.