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Kinematics analysis and scale optimization of a new 3-DOF 1T2R parallel mechanism
Published:2024-10-30 author:LI Xingrui, LONG Youqiang, JIANG Feng. Browse: 125 Check PDF documents
Kinematics analysis and scale optimization of a new 
3DOF 1T2R parallel mechanism


LI Xingrui1, LONG Youqiang2, JIANG Feng3


(1.Department of Mechanical and Electrical Engineering, Hebi Vocational College of Energy and Chemistry, Hebi 458000, China; 

2.Department of Mechanical and Electrical Engineering,Beihai Vocational College, Beihai 536000, China; 3.School of Mechanical 

and Automotive Engineering, Guangxi University of Science and Technology, Liuzhou 545616, China)


Abstract: The parallel mechanism with the mixed motion of moving and rotating has high research and application value. The mechanism based on transfer mixed output motion has a wide range of applications, but the design of this kind of mechanism is difficult. In order to develop and popularize the parallel mechanism, a parallel mechanism with one translation and two rotations (1T2R) was designed based on a planar five-bar mechanism and an unconstrained branch chain. Firstly, the topological structure of the parallel mechanism was analyzed according to the position and orientation characteristic (POC) equation, and the degree of freedom (DOF) of the parallel mechanism was calculated. Then, the kinematics of the parallel mechanism was modeled, and the analytic expression of the forward and inverse position solutions was derived. The singularity of the parallel mechanism was analyzed based on Jacobian matrix. The workspace of the parallel mechanism was calculated by using three-dimensional discrete search method, and the dexterity distribution of the parallel mechanism in the workspace was given. Finally, particle swarm optimization (PSO) was used to optimize the workspace and dexterity of the parallel mechanism, and the influence of unconstrained branch chain layout angle φ on the workspace and dexterity of the parallel mechanism was discussed. The research results show that, the designed 1T2R parallel mechanism has simple structure and position analytical solution. The workspace and dexterity of the optimized parallel mechanism are respectively improved by 93.47% and 203.42%. When the driving direction of the unconstrained branch chain is vertically arranged with the planar (2P-3R) mechanism, better motion performance can be obtained. The result lays a theoretical foundation for the practical application of the 3-DOF 1T2R mechanism.

Key words:  five-bar mechanism; degree of freedom(DOF)calculation; parallel mechanism; kinematic position analysis; singularity analysis; workspace; dexterity analysis; mechanism scale comprehensive optimization
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