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<p>This study presents an enhancement to a 3UPU parallel mechanism with three stable rotations and one unstable moving degree of freedom by incorporating an underactuated branch chain to transform it into a stable configuration with three rotational degrees of freedom. Based on screw theory, the degree of freedom of the modified parallel mechanism is determined, and the kinematic equations are solved using a closed-loop method. Additionally, multiple sets of feasible solutions are obtained through a genetic algorithm. The workspace of the mechanism is characterized based on the kinematic equations and constraints, with an analysis of the relationship between structural parameters and workspace size. The Jacobian matrix is obtained and used to analyze some performance indexs within the workspace. Subsequently, the structural parameters are optimized using the genetic algorithm, yielding significant improvements. This research lays a solid theoretical foundation for future prototype development and practical applications.</p>

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Design, evaluation, and optimization of a novel 3UPU-S parallel mechanism with three rotational degrees of freedom

  • 期刊论文

  • 发表日期：

    2025年1月30日

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  • Shiqing Lu,
  • Yiqing Xie,
  • Hui Jin,
  • Xia Huang,
  • Yujin Wang,
  • Jun Ding

摘要

This study presents an enhancement to a 3UPU parallel mechanism with three stable rotations and one unstable moving degree of freedom by incorporating an underactuated branch chain to transform it into a stable configuration with three rotational degrees of freedom. Based on screw theory, the degree of freedom of the modified parallel mechanism is determined, and the kinematic equations are solved using a closed-loop method. Additionally, multiple sets of feasible solutions are obtained through a genetic algorithm. The workspace of the mechanism is characterized based on the kinematic equations and constraints, with an analysis of the relationship between structural parameters and workspace size. The Jacobian matrix is obtained and used to analyze some performance indexs within the workspace. Subsequently, the structural parameters are optimized using the genetic algorithm, yielding significant improvements. This research lays a solid theoretical foundation for future prototype development and practical applications.