Inverse Position Solution and Workspace Analysis of a 2T2R Parallel Mechanism
Aiming at the demand of logistics industry for rapid sorting and packaging of a large number of commodities，a 4-DOF parallel mechanism (2-RRR&RPR+R) &URS type is proposed. The mechanism consists of a stationary platform，a moving platform and a URS branch chain，as well as two RRR bran...
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| Main Authors: | , , , |
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| Format: | Article |
| Language: | zho |
| Published: |
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.1004.2539.2021.06.004 |
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| Summary: | Aiming at the demand of logistics industry for rapid sorting and packaging of a large number of commodities，a 4-DOF parallel mechanism (2-RRR&RPR+R) &URS type is proposed. The mechanism consists of a stationary platform，a moving platform and a URS branch chain，as well as two RRR branch chains and RPR branch chains connected with a connecting platform with R pairs. Firstly，the degree of freedom is analyzed by using the screw theory to institutions，get the mechanism can be realized to achieve two turn four degrees of freedom of movement，then by using the method of analytic vector inverse position analysis and using numerical search method combined with the inverse position equation，finding work space analysis work performance，and finally the position inverse equation by Matlab simulation，and by using the Adams results for validation，to prove the validity of the inverse kinematics model of the mechanism as well as the mechanism motion can be realized. The results show that the mechanism can move in a wide range along the X-axis direction and rotate at a large angle in the Y-axis direction，which can replace the manual operation in logistics industry and thus improve the work efficiency. The results can provide a theoretical basis for further dynamic analysis and application of the mechanism. |
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| ISSN: | 1004-2539 |