Kinematics and Workspace Analysis of 3-UU/UPU+2P Hybrid Mechanism
A new 3-UU/UPU+2P double-layer hybrid mechanism is proposed in view of the characteristics of the hybrid mechanism having both the advantages of the serial and parallel mechanisms. Firstly，the structural characteristics of the mechanism are described in detail，and a dynamic and static coordinate sys...
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| Format: | Article |
| Language: | zho |
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Editorial Office of Journal of Mechanical Transmission
2020-12-01
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| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2020.12.017 |
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| author | Xunbao Liao Guangchun Lin Rongkuan Zhao Binghui Xu Haike Yan |
| author_facet | Xunbao Liao Guangchun Lin Rongkuan Zhao Binghui Xu Haike Yan |
| author_sort | Xunbao Liao |
| collection | DOAJ |
| description | A new 3-UU/UPU+2P double-layer hybrid mechanism is proposed in view of the characteristics of the hybrid mechanism having both the advantages of the serial and parallel mechanisms. Firstly，the structural characteristics of the mechanism are described in detail，and a dynamic and static coordinate system is constructed. Secondly，the degree of freedom of the mechanism is analyzed based on the spiral theory，and the degree of freedom is verified by using the modified G-K formula. It is concluded that the mechanism has 3 degrees of freedom and belongs to a non-transient mechanism. Then，based on the kinematic characteristics of the mechanism，the forward and inverse solution models of the kinematics of the mechanism are established，and the differential solution method of symbolic operation is used to analyze the forward and velocity solutions of the mechanism. The change curves of kinematics model are obtained through specific numerical examples，and the theoretical calculation results are compared with Adams simulation results to verify the correctness of the kinematics model. Finally，the workspace of the mechanism is analyzed based on Monte Carlo method，which provides theoretical basis for the configuration design and practical application of the mechanism. The research results show that the mechanism has a large continuous and symmetrical workspace. |
| format | Article |
| id | doaj-art-8aaef91de9204401b5226ec60987f13f |
| institution | Kabale University |
| issn | 1004-2539 |
| language | zho |
| publishDate | 2020-12-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj-art-8aaef91de9204401b5226ec60987f13f2025-01-10T14:54:39ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392020-12-01441061125491890Kinematics and Workspace Analysis of 3-UU/UPU+2P Hybrid MechanismXunbao LiaoGuangchun LinRongkuan ZhaoBinghui XuHaike YanA new 3-UU/UPU+2P double-layer hybrid mechanism is proposed in view of the characteristics of the hybrid mechanism having both the advantages of the serial and parallel mechanisms. Firstly，the structural characteristics of the mechanism are described in detail，and a dynamic and static coordinate system is constructed. Secondly，the degree of freedom of the mechanism is analyzed based on the spiral theory，and the degree of freedom is verified by using the modified G-K formula. It is concluded that the mechanism has 3 degrees of freedom and belongs to a non-transient mechanism. Then，based on the kinematic characteristics of the mechanism，the forward and inverse solution models of the kinematics of the mechanism are established，and the differential solution method of symbolic operation is used to analyze the forward and velocity solutions of the mechanism. The change curves of kinematics model are obtained through specific numerical examples，and the theoretical calculation results are compared with Adams simulation results to verify the correctness of the kinematics model. Finally，the workspace of the mechanism is analyzed based on Monte Carlo method，which provides theoretical basis for the configuration design and practical application of the mechanism. The research results show that the mechanism has a large continuous and symmetrical workspace.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2020.12.017Hybrid mechanismKinematicsMonte Carlo methodWorkspace |
| spellingShingle | Xunbao Liao Guangchun Lin Rongkuan Zhao Binghui Xu Haike Yan Kinematics and Workspace Analysis of 3-UU/UPU+2P Hybrid Mechanism Jixie chuandong Hybrid mechanism Kinematics Monte Carlo method Workspace |
| title | Kinematics and Workspace Analysis of 3-UU/UPU+2P Hybrid Mechanism |
| title_full | Kinematics and Workspace Analysis of 3-UU/UPU+2P Hybrid Mechanism |
| title_fullStr | Kinematics and Workspace Analysis of 3-UU/UPU+2P Hybrid Mechanism |
| title_full_unstemmed | Kinematics and Workspace Analysis of 3-UU/UPU+2P Hybrid Mechanism |
| title_short | Kinematics and Workspace Analysis of 3-UU/UPU+2P Hybrid Mechanism |
| title_sort | kinematics and workspace analysis of 3 uu upu 2p hybrid mechanism |
| topic | Hybrid mechanism Kinematics Monte Carlo method Workspace |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2020.12.017 |
| work_keys_str_mv | AT xunbaoliao kinematicsandworkspaceanalysisof3uuupu2phybridmechanism AT guangchunlin kinematicsandworkspaceanalysisof3uuupu2phybridmechanism AT rongkuanzhao kinematicsandworkspaceanalysisof3uuupu2phybridmechanism AT binghuixu kinematicsandworkspaceanalysisof3uuupu2phybridmechanism AT haikeyan kinematicsandworkspaceanalysisof3uuupu2phybridmechanism |