《机电工程》杂志社科技期刊核心期刊论文投稿机电一体化机械、仪表电工自动化、计算机浙江大学主办

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Kinematic and static analysis of a novel parallel mechanism with 2-DOF

Published:2015-04-07 author:WU Wei-feng1，ZHANG Wei-zhong1，2，QIAN Rong3 Browse: 3337 Check PDF documents

Kinematic and static analysis of a novel parallel

mechanism with 2-DOF

WU Wei-feng1，ZHANG Wei-zhong1，2，QIAN Rong3

（1. School of Mechanical Engineering and Automatic，Zhejiang Sci-tech University，Hangzhou 310000，China；

2. Department of Electrical Engineering，ZheJiang Institute of Mechanical and Electrical Engineering，

Hangzhou 310000，China；

3. Hangzhou BaoDi Automation Equipment Co.，Ltd.，Hangzhou 310000，China）

Abstract：Aiming at the characteristics of material handing mechanism have large horizontal displacement，the forward and inverse

kinematics，singularity，velocity jacobian matrix，workspace and driving force of sliders of a new type of 2-DOF parallel mechanism were

studied. The methods of kinematic and static analysis were also proposed. Firstly，the forward and inverse kinematics and the Jacobian

matrix were derived by setting up kinematic model of this mechanism，and the workspace which conforms to the actual constraint

conditions was obtained. Then，the static model was established by using the method of virtual work principle，and the specific statics

model expression was deduced. Finally，the atlases of actuated forces under certain loads which act on the manipulator were obtained by

using SolidWorks and Matlab. The results show that the mechanism possesses large horizontal displacement. Because，under the same

quantity of input，both the horizontal displacement and the driving sliders force become larger with closer distance between the end

effector and driving sliders.

Key words：parallel mechanism；kinematic analysis；virtual work principle；simulation

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