Kinematics Analysis of a Planar Symmetric (CRR)<sub>2</sub>S-(3R)<sub>2</sub>R Parallel Mechanism
Taking a planar symmetrical (CRR)2S-(3R)2R parallel mechanism with two translations and two rotations (2T2R) as the research object，based on the position and orientation characteristic set theory analyzes the number and nature of the mechanism’s degree of freedom and then this study analyzes its kin...
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| Format: | Article |
| Language: | zho |
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Editorial Office of Journal of Mechanical Transmission
2021-06-01
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| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2021.06.009 |
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| _version_ | 1841547277543407616 |
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| author | Jie Li Linxian Che Li Du Xin Zheng |
| author_facet | Jie Li Linxian Che Li Du Xin Zheng |
| author_sort | Jie Li |
| collection | DOAJ |
| description | Taking a planar symmetrical (CRR)2S-(3R)2R parallel mechanism with two translations and two rotations (2T2R) as the research object，based on the position and orientation characteristic set theory analyzes the number and nature of the mechanism’s degree of freedom and then this study analyzes its kinematics problems. The coordinate transformation method is applied to establish a set of nonlinear equations for the positive solution of the mechanism position，and the differential evolution algorithm is used to find the set of equations. The analytical expressions for the inverse solution of the mechanism are derived，and numerical examples are used to verify the correctness of the forward and inverse solutions of the mechanism. The vector method is used to derive the velocity and acceleration expressions of the mechanism，and Matlab is applied to program the position，velocity and acceleration curves of the mechanism. At the same time，Adams is used for kinematics simulation，and the maximum error between the Matlab theoretical curve and the Adams simulation curve is obtained. The result shows that the kinematic analysis curves of the two are basically the same，indicating that the theoretical analysis of the mechanism is correct and reliable. |
| format | Article |
| id | doaj-art-2ded27a7f6ae403ba968403e33489a15 |
| institution | Kabale University |
| issn | 1004-2539 |
| language | zho |
| publishDate | 2021-06-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj-art-2ded27a7f6ae403ba968403e33489a152025-01-10T14:48:52ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392021-06-0145586411255823Kinematics Analysis of a Planar Symmetric (CRR)<sub>2</sub>S-(3R)<sub>2</sub>R Parallel MechanismJie LiLinxian CheLi DuXin ZhengTaking a planar symmetrical (CRR)2S-(3R)2R parallel mechanism with two translations and two rotations (2T2R) as the research object，based on the position and orientation characteristic set theory analyzes the number and nature of the mechanism’s degree of freedom and then this study analyzes its kinematics problems. The coordinate transformation method is applied to establish a set of nonlinear equations for the positive solution of the mechanism position，and the differential evolution algorithm is used to find the set of equations. The analytical expressions for the inverse solution of the mechanism are derived，and numerical examples are used to verify the correctness of the forward and inverse solutions of the mechanism. The vector method is used to derive the velocity and acceleration expressions of the mechanism，and Matlab is applied to program the position，velocity and acceleration curves of the mechanism. At the same time，Adams is used for kinematics simulation，and the maximum error between the Matlab theoretical curve and the Adams simulation curve is obtained. The result shows that the kinematic analysis curves of the two are basically the same，indicating that the theoretical analysis of the mechanism is correct and reliable.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2021.06.009Parallel mechanismPosition and orientation characteristicForward displacement analysisKinematics analysisAdams simulation |
| spellingShingle | Jie Li Linxian Che Li Du Xin Zheng Kinematics Analysis of a Planar Symmetric (CRR)<sub>2</sub>S-(3R)<sub>2</sub>R Parallel Mechanism Jixie chuandong Parallel mechanism Position and orientation characteristic Forward displacement analysis Kinematics analysis Adams simulation |
| title | Kinematics Analysis of a Planar Symmetric (CRR)<sub>2</sub>S-(3R)<sub>2</sub>R Parallel Mechanism |
| title_full | Kinematics Analysis of a Planar Symmetric (CRR)<sub>2</sub>S-(3R)<sub>2</sub>R Parallel Mechanism |
| title_fullStr | Kinematics Analysis of a Planar Symmetric (CRR)<sub>2</sub>S-(3R)<sub>2</sub>R Parallel Mechanism |
| title_full_unstemmed | Kinematics Analysis of a Planar Symmetric (CRR)<sub>2</sub>S-(3R)<sub>2</sub>R Parallel Mechanism |
| title_short | Kinematics Analysis of a Planar Symmetric (CRR)<sub>2</sub>S-(3R)<sub>2</sub>R Parallel Mechanism |
| title_sort | kinematics analysis of a planar symmetric crr sub 2 sub s 3r sub 2 sub r parallel mechanism |
| topic | Parallel mechanism Position and orientation characteristic Forward displacement analysis Kinematics analysis Adams simulation |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2021.06.009 |
| work_keys_str_mv | AT jieli kinematicsanalysisofaplanarsymmetriccrrsub2subs3rsub2subrparallelmechanism AT linxianche kinematicsanalysisofaplanarsymmetriccrrsub2subs3rsub2subrparallelmechanism AT lidu kinematicsanalysisofaplanarsymmetriccrrsub2subs3rsub2subrparallelmechanism AT xinzheng kinematicsanalysisofaplanarsymmetriccrrsub2subs3rsub2subrparallelmechanism |