Design and Analysis of an Annular 3-PPR Planar Parallel Mechanism
In order to enlarge the rotation workspace of the manipulator, an annular 3-PPR planar parallel mechanism with full rotation capability is proposed. Resorting to homogeneous transformation and closed vector method, the inverse kinematics solution of the manipulator is obtained. Based on the normaliz...
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| Main Authors: | , , |
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| Format: | Article |
| Language: | zho |
| Published: |
Editorial Office of Journal of Mechanical Transmission
2023-01-01
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| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2023.01.012 |
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| Summary: | In order to enlarge the rotation workspace of the manipulator, an annular 3-PPR planar parallel mechanism with full rotation capability is proposed. Resorting to homogeneous transformation and closed vector method, the inverse kinematics solution of the manipulator is obtained. Based on the normalized Jacobian matrix, the singularity and dexterity performance of the manipulator are analyzed, and the optimal configuration parameters with great performance are obtained. Combined with the inverse kinematics solution and the geometry constraints of the manipulator, the reachable workspace is determined. Kinematics simulation of the manipulator is carried out by Matlab and Adams software, and the correctness of the theoretical model is verified. This research provides a theoretical basis for the design and application of the annular 3-PPR planar parallel manipulator, and it is also useful for further study, such as dynamics analysis, optimal design and so on. |
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| ISSN: | 1004-2539 |