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Evaluation Index and Performance Analysis of Power Consumption Ratio of Spherical Parallel Mechanisms

HOU Yulei;WEI Xiaochen;ZHOU Zhiyu;ZENG Daxing;School of Mechanical Engineering,Yanshan University;  
It was one of main problems for the practical applications of bionic mechanisms with low transfer efficiency of energy in the moving processes.The performance evaluation index of the power consumption ratio was put forward herein.Two kinds of 3-DOF spherical parallel mechanisms,3 PSS/S parallel mechanism and 3 RRR parallel mechanism,were taken as the research objects,and their mathematical models of power consumption ratio were established.In the ranges of given attitude angles,the theoretical power consumption ratios of the two parallel mechanisms were calculated respectively.The power consumption ratio curves of the two parallel mechanisms were plotted in order to compare the energy transfer performance.Meanwhile,the power consumption ratio experiments of3 PSS/S parallel mechanism were carried out,and the experimental power consumption ratio curves of the experiments were plotted.The comparison between the theoretical numerical analysis and the experimental results was analyzed,which validate the rationality and practicability of the power consumption ratio performance index.
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