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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: Aiming at the dual demand problem of precise operation in a small range and unidirectional operation in a large range in industrial production, the parallel mechanism with two translation and one rotation(2T1R) outputs was studied. Firstly, a new type of parallel mechanism with two translations and one rotation was designed and analyzed by using the topology design method based on azimuth feature set. The topological design process of the mechanism was given, and main topological characteristics of the mechanism such as degrees of freedom were verified. Then, the kinematic modeling method based on topological features was used to establish the kinematic model for kinematic analysis, and the symbolic positional positive and negative solutions of the mechanism were studied. According to the positive and negative solutions of the mechanism, the reachable workspace of the mechanism, the velocity and acceleration curves of the middle point of the moving platform of the mechanism and three types of singular positions of the mechanism were studied respectively. Finally, the dynamic model was established and the dynamic analysis was carried out by using the sequential single open chain method based on the principle of virtual work, and the driving force required by the mechanism was studied. The results show that the relative error of the simulation curve and theoretical curve of the speed, acceleration and driving force of the parallel mechanism is less than 2%, and the kinematic and dynamic model of the mechanism is established correctly, which lays a foundation for the error analysis, trajectory planning and control of the mechanism.
Key words: parallel mechanism; topology design; positive and negative solutions of position; kinematics analysis; dynamics analysis
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- Chinese Core Periodicals
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- Chinese Sci-tech Core Periodicals
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- SA, INSPEC Indexed
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- CSA: T Indexed
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- UPD:Indexed
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