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This paper introduces a new 6-DOF over-constrained parallel mechanism (PM). Different from the general Gough-Stewart platform, the limbs of the new PM are connected to the moving platform in pairs through a T-shaped waist joint and connected to the base in pairs through a common revolute joint, saving nine 1-DOF joints. The Jacobian matrix and acceleration model are both important theoretical bases for subsequent modeling of dynamics and optimal design of the PM. Thus, to facilitate the subsequent modeling, design, and application of the new 6-DOF PM, its Jacobian matrix and acceleration model are derived. Under a set of dimensional parameters, the Jacobian matrix and acceleration model of the new 6-DOF mechanism are verified to be effective based on simulations.

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Derivation of Jacobian and Acceleration Model of a New 6-DOF Over-Constrained Parallel Mechanism

  • 会议论文

  • 发表日期：

    2025年

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  • Hongye Wu,
  • Haitao Liu,
  • Junyi Shi,
  • Junfu Zhou,
  • Conglin Wu

摘要

This paper introduces a new 6-DOF over-constrained parallel mechanism (PM). Different from the general Gough-Stewart platform, the limbs of the new PM are connected to the moving platform in pairs through a T-shaped waist joint and connected to the base in pairs through a common revolute joint, saving nine 1-DOF joints. The Jacobian matrix and acceleration model are both important theoretical bases for subsequent modeling of dynamics and optimal design of the PM. Thus, to facilitate the subsequent modeling, design, and application of the new 6-DOF PM, its Jacobian matrix and acceleration model are derived. Under a set of dimensional parameters, the Jacobian matrix and acceleration model of the new 6-DOF mechanism are verified to be effective based on simulations.