| Citation: | HE L T，FANG H R，CHEN Y F，et al. Design and performance analysis of spatial large extension parallel mechanism[J]. Journal of Beijing University of Aeronautics and Astronautics，2023，49（7）：1722-1734 （in Chinese） doi: 10.13700/j.bh.1001-5965.2021.0548
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In the process of large-scale workpiece machining, the insufficient extension space of the executive mechanism is an urgent problem to be solved in the aerospace manufacturing industry. To increase the working space at the end of the executive mechanism, and to provide the mechanism with a stable and reliable extension foundation, a parallel extendable mechanism with high stiffness and large extension is proposed. This paper focuses on the design and analysis of parallel extensible mechanisms. Based on graph theory, the configuration of the extendable mechanism was synthesized, and the three extendable branch unit configurations, PRRR, PRRR-3R and PRRR-6R (P represents prismatic pair, R represents rotation pair) were obtained by using the configuration evolution. On this basis, the extensibility and stiffness of the branch chain unit of the three extensible mechanisms were compared and analyzed. And finally, the PRRR branch chain unit that satisfies the requirements was configured as a parallel extensible mechanism. The parallel extendable mechanism can be applied to occasions that need to provide large extension and large stiffness and realize the expansion of the movement space of other actuators.
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