Analysis and Optimization of a New Variable Drive Plane 5R Parallel Mechanism
A new planar 5R parallel mechanism with nine driving methods is proposed to solve the problem of system performance degradation caused by different driving methods of parallel mechanisms. Firstly， based on the transmission scheme of the 5R parallel mechanism， the kinematics model of the 5R parallel...
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| Main Authors: | , |
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| Format: | Article |
| Language: | zho |
| Published: |
Editorial Office of Journal of Mechanical Transmission
2021-03-01
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| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2021.03.020 |
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| Summary: | A new planar 5R parallel mechanism with nine driving methods is proposed to solve the problem of system performance degradation caused by different driving methods of parallel mechanisms. Firstly， based on the transmission scheme of the 5R parallel mechanism， the kinematics model of the 5R parallel mechanism is established. Secondly， on the basis of matrix orthogonality， the operating performance index of 5R parallel mechanism is defined， and the operating performance under different driving modes is evaluated according to the index requirements. Finally， the size of the 5R parallel mechanism is optimized based on the atlas method， and the best geometric parameters and the best execution mode transformation diagram of the 5R parallel mechanism are obtained. The experimental results show that the proposed performance evaluation index and optimization method have good universality. The new driveable mechanism constructed can significantly improve the kinematic performance of the parallel mechanism by reasonably changing the drive mode. |
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| ISSN: | 1004-2539 |