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International Standard Serial Number:
ISSN 1001-4551
Sponsor:
Zhejiang University;
Zhejiang Machinery and Electrical Group
Edited by:
Editorial of Journal of Mechanical & Electrical Engineering
Chief Editor:
ZHAO Qun
Vice Chief Editor:
TANG ren-zhong,
LUO Xiang-yang
Tel:
86-571-87041360,87239525
Fax:
86-571-87239571
Add:
No.9 Gaoguannong,Daxue Road,Hangzhou,China
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310009
E-mail:
meem_contribute@163.com
Abstract: Three-degree-of-freedom parallel mechanism has the characteristics of simple structure, low cost, convenient motion control, high stiffness and large bearing capacity, and it has been widely used in industrial production and other equipment, among which 2T1R parallel mechanism with mixed movement and rotation has higher research value. In order to develop and popularize the application of 2T1R parallel mechanism (PM), a spatial 2T1R PM with zero coupling degree and partially decoupled motion was proposed. Firstly, the forward and inverse solutions of the PM were analyzed, and the relation matrix between the velocity of each component and the input velocity was solved. Then, the dynamic models of each sub kinematic chain (SKC) were established using the order single open chain method based on the virtual work principle; and according to the order of the topological structure decomposition of the mechanism, the inverse dynamic model of the entire mechanism was obtained. Finally, an example study was carried out on the established dynamic model, and the driving force of the PM and the support and reaction force at the connection of two SKC were obtained, which were compared with the results of ADAMS virtual simulation. The results show that the 2T1R parallel mechanism has the advantage of partial motion decoupling, and the effectiveness and correctness of the established reverse dynamics model are verified by simulation comparison, which lays a foundation for its structural design and prototype development.
Key words: parallel mechanism(PM); position orientation characteristic equation; reverse dynamics; principle of virtual work; mechanism dynamics modeling; kinematics modeling
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