Parasitic Motion and Workspace Analysis of Parallel Mechanism Based on 2-PRU/PUU
The Parasitic Motion and workspace of a new 2-PRU/PUU parallel mechanism are analyzed. Firstly， the degree of freedom of the mechanism is analyzed according to the spiral theory， and then the correctness of the results is judged by the modified Grübler-Kutzbach formula. Secondly， by establishing the...
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| Format: | Article |
| Language: | zho |
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Editorial Office of Journal of Mechanical Transmission
2022-09-01
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| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2022.09.020 |
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| _version_ | 1841548803055812608 |
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| author | Chunsheng Ma Jianguo Liu Jie Wen Yangtao He Wenlong Fan |
| author_facet | Chunsheng Ma Jianguo Liu Jie Wen Yangtao He Wenlong Fan |
| author_sort | Chunsheng Ma |
| collection | DOAJ |
| description | The Parasitic Motion and workspace of a new 2-PRU/PUU parallel mechanism are analyzed. Firstly， the degree of freedom of the mechanism is analyzed according to the spiral theory， and then the correctness of the results is judged by the modified Grübler-Kutzbach formula. Secondly， by establishing the kinematics mathematical model of 2-PRU/PUU parallel mechanism， the mathematical relationship between the Parasitic Motion and the position and pose of the moving platform is deduced. On this basis， the inverse position solution of the mechanism is calculated using the three-dimensional space coordinate vector method. Finally， the limit boundary search method is used to calculate the workspace in Matlab software， and Adams software is used to simulate the moving platform centroid motion parameters of 2-PRU/PUU parallel mechanism. The research provides theoretical and data support for scale synthesis， error analysis and practical engineering application of the mechanism. |
| format | Article |
| id | doaj-art-018a1a7aebb8464ba28f413497aa3cb4 |
| institution | Kabale University |
| issn | 1004-2539 |
| language | zho |
| publishDate | 2022-09-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj-art-018a1a7aebb8464ba28f413497aa3cb42025-01-10T14:00:06ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392022-09-014614615130488565Parasitic Motion and Workspace Analysis of Parallel Mechanism Based on 2-PRU/PUUChunsheng MaJianguo LiuJie WenYangtao HeWenlong FanThe Parasitic Motion and workspace of a new 2-PRU/PUU parallel mechanism are analyzed. Firstly， the degree of freedom of the mechanism is analyzed according to the spiral theory， and then the correctness of the results is judged by the modified Grübler-Kutzbach formula. Secondly， by establishing the kinematics mathematical model of 2-PRU/PUU parallel mechanism， the mathematical relationship between the Parasitic Motion and the position and pose of the moving platform is deduced. On this basis， the inverse position solution of the mechanism is calculated using the three-dimensional space coordinate vector method. Finally， the limit boundary search method is used to calculate the workspace in Matlab software， and Adams software is used to simulate the moving platform centroid motion parameters of 2-PRU/PUU parallel mechanism. The research provides theoretical and data support for scale synthesis， error analysis and practical engineering application of the mechanism.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2022.09.0202-PRU/PUU parallel mechanismSpiral theoryParasitic motionPosition inverseWorkspace |
| spellingShingle | Chunsheng Ma Jianguo Liu Jie Wen Yangtao He Wenlong Fan Parasitic Motion and Workspace Analysis of Parallel Mechanism Based on 2-PRU/PUU Jixie chuandong 2-PRU/PUU parallel mechanism Spiral theory Parasitic motion Position inverse Workspace |
| title | Parasitic Motion and Workspace Analysis of Parallel Mechanism Based on 2-PRU/PUU |
| title_full | Parasitic Motion and Workspace Analysis of Parallel Mechanism Based on 2-PRU/PUU |
| title_fullStr | Parasitic Motion and Workspace Analysis of Parallel Mechanism Based on 2-PRU/PUU |
| title_full_unstemmed | Parasitic Motion and Workspace Analysis of Parallel Mechanism Based on 2-PRU/PUU |
| title_short | Parasitic Motion and Workspace Analysis of Parallel Mechanism Based on 2-PRU/PUU |
| title_sort | parasitic motion and workspace analysis of parallel mechanism based on 2 pru puu |
| topic | 2-PRU/PUU parallel mechanism Spiral theory Parasitic motion Position inverse Workspace |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2022.09.020 |
| work_keys_str_mv | AT chunshengma parasiticmotionandworkspaceanalysisofparallelmechanismbasedon2prupuu AT jianguoliu parasiticmotionandworkspaceanalysisofparallelmechanismbasedon2prupuu AT jiewen parasiticmotionandworkspaceanalysisofparallelmechanismbasedon2prupuu AT yangtaohe parasiticmotionandworkspaceanalysisofparallelmechanismbasedon2prupuu AT wenlongfan parasiticmotionandworkspaceanalysisofparallelmechanismbasedon2prupuu |