0
research-article

Design of a Spatial Translational Mechanism by Optimizing Spatial Ground Structures and Its Kinematic Analysis

[+] Author and Article Information
Weidong Yu

Ph.D. Candidate, State Key Laboratory of Mechanical System and Vibration, Shanghai Key Laboratory of Digital Manufacture for Thin-walled Structures, Shanghai Jiao Tong University, Shanghai, 200240, P. R. China
yuweidong@sjtu.edu.cn

Hao Wang

Professor, State Key Laboratory of Mechanical System and Vibration, Shanghai Key Laboratory of Digital Manufacture for Thin-walled Structures, Shanghai Jiao Tong University, Shanghai, 200240, P. R. China
wanghao@sjtu.edu.cn

Genliang Chen

Postdoctor, State Key Laboratory of Mechanical System and Vibration, Shanghai Key Laboratory of Digital Manufacture for Thin-walled Structures, Shanghai Jiao Tong University, Shanghai, 200240, P. R. China
leungchan@sjtu.edu.cn

Longhai Zhao

Ph.D. Candidate, State Key Laboratory of Mechanical System and Vibration, Shanghai Key Laboratory of Digital Manufacture for Thin-walled Structures, Shanghai Jiao Tong University, Shanghai, 200240, P. R. China
fhqdxitx1988@sjtu.edu.cn

1Corresponding author.

ASME doi:10.1115/1.4040269 History: Received January 14, 2018; Revised May 05, 2018

Abstract

In our previous work, we designed a three degree-of-freedom (DOF) translational parallel mechanism based on a proposed design strategy. In this paper, the design strategy is further improved and a novel spatial translational mechanism (STM) is found. The novel STM consists of a platform, a base and six modules between the platform and the base. Each module is actually a passive planar 6R single-loop closed chain (6RSCC) and it is connected with two other modules. Meanwhile, three modules are connected to the base and the other three to the platform. All the connections among the modules, platform and base are realized by revolute joints. There are no obvious limbs in the mechanism due to the complex connections. The mobility of the STM is analyzed and the forward kinematics is investigated. In order to validate the effectiveness and feasibility of the design, one prototype is fabricated. At the end of the paper, we draw some conclusions and discuss the future works.

Copyright (c) 2018 by ASME
Your Session has timed out. Please sign back in to continue.

References

Figures

Tables

Errata

Discussions

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related Journal Articles
Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In