Kinematics Analysis and Simulation of a 4-CPS/UPU Parallel Mechanism
A 4-CPS/UPU parallel mechanism used in the field of parallel machine tools is proposed. Based on the screw theory, the kinematic and constrained screw system of the parallel mechanism is established. The mechanism has five degrees of freedom and can realize the function of three shifts and two rotat...
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| Format: | Article |
| Language: | zho |
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Editorial Office of Journal of Mechanical Transmission
2023-07-01
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| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2023.07.013 |
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| _version_ | 1841547055043969024 |
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| author | Liu Juan Li Ruiqin Wang Yuan Ning Fengping |
| author_facet | Liu Juan Li Ruiqin Wang Yuan Ning Fengping |
| author_sort | Liu Juan |
| collection | DOAJ |
| description | A 4-CPS/UPU parallel mechanism used in the field of parallel machine tools is proposed. Based on the screw theory, the kinematic and constrained screw system of the parallel mechanism is established. The mechanism has five degrees of freedom and can realize the function of three shifts and two rotations. The degree of freedom is verified by the modified K-G formula. The forward and inverse solutions of the parallel mechanism and the working space are analyzed. The simulation analysis is carried out by Adams software. The workspace of the mechanism is continuous without cavity, and its shape is similar to that of a pyramid, which is regular and symmetrical; the smooth displacement and velocity curves obtained by simulation show that the mechanism has good kinematic performance, which provides a certain theoretical basis for its parametric design in the field of parallel machine tools. |
| format | Article |
| id | doaj-art-badaae3f27a74892b36893ab7f721042 |
| institution | Kabale University |
| issn | 1004-2539 |
| language | zho |
| publishDate | 2023-07-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj-art-badaae3f27a74892b36893ab7f7210422025-01-10T14:58:20ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392023-07-0147909540048022Kinematics Analysis and Simulation of a 4-CPS/UPU Parallel MechanismLiu JuanLi RuiqinWang YuanNing FengpingA 4-CPS/UPU parallel mechanism used in the field of parallel machine tools is proposed. Based on the screw theory, the kinematic and constrained screw system of the parallel mechanism is established. The mechanism has five degrees of freedom and can realize the function of three shifts and two rotations. The degree of freedom is verified by the modified K-G formula. The forward and inverse solutions of the parallel mechanism and the working space are analyzed. The simulation analysis is carried out by Adams software. The workspace of the mechanism is continuous without cavity, and its shape is similar to that of a pyramid, which is regular and symmetrical; the smooth displacement and velocity curves obtained by simulation show that the mechanism has good kinematic performance, which provides a certain theoretical basis for its parametric design in the field of parallel machine tools.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2023.07.0134-CPS/UPU parallel mechanismDegree of freedomPosition inverse solutionPositive position solutionWorkspaceAdams software |
| spellingShingle | Liu Juan Li Ruiqin Wang Yuan Ning Fengping Kinematics Analysis and Simulation of a 4-CPS/UPU Parallel Mechanism Jixie chuandong 4-CPS/UPU parallel mechanism Degree of freedom Position inverse solution Positive position solution Workspace Adams software |
| title | Kinematics Analysis and Simulation of a 4-CPS/UPU Parallel Mechanism |
| title_full | Kinematics Analysis and Simulation of a 4-CPS/UPU Parallel Mechanism |
| title_fullStr | Kinematics Analysis and Simulation of a 4-CPS/UPU Parallel Mechanism |
| title_full_unstemmed | Kinematics Analysis and Simulation of a 4-CPS/UPU Parallel Mechanism |
| title_short | Kinematics Analysis and Simulation of a 4-CPS/UPU Parallel Mechanism |
| title_sort | kinematics analysis and simulation of a 4 cps upu parallel mechanism |
| topic | 4-CPS/UPU parallel mechanism Degree of freedom Position inverse solution Positive position solution Workspace Adams software |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2023.07.013 |
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