Optimization Design and Kinematics Analysis of a Low DOF Parallel Mechanism

Han Meng; Wang Changming

doi:10.16578/j.issn.1004.2539.2015.03.018

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Optimization Design and Kinematics Analysis of a Low DOF Parallel Mechanism

更新时间：2022-10-20

- Optimization Design and Kinematics Analysis of a Low DOF Parallel Mechanism
- Vol. 39, Issue 3, Pages: 67-69(2015)
- 作者机构：
  
  1. 南京理工大学机械工程学院
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2015.03.018
  CLC：
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[1]韩萌,王昌明.一种少自由度并联机构优化设计及运动学分析[J].机械传动,2015,39(03):67-69.

Han Meng, Wang Changming. Optimization Design and Kinematics Analysis of a Low DOF Parallel Mechanism. [J]. 39(3):67-69(2015)
[1]韩萌,王昌明.一种少自由度并联机构优化设计及运动学分析[J].机械传动,2015,39(03):67-69. DOI： 10.16578/j.issn.1004.2539.2015.03.018.

Han Meng, Wang Changming. Optimization Design and Kinematics Analysis of a Low DOF Parallel Mechanism. [J]. 39(3):67-69(2015) DOI： 10.16578/j.issn.1004.2539.2015.03.018.

摘要

围绕少自由度并联机构对稳定与跟踪两种功能的实现,运用螺旋理论设计了一种2-SUP（U）并联机构,并对该机构的自由度进行分析。根据此并联结构的运动特点,利用闭环矢量运算法,借助Rodrigues参数对机构进行了运动学分析,推导位置逆解与速度逆解计算方法,并利用Matlab进行仿真,获取位置速度等特征曲线,为实现对此机构位置和速度的控制提供了理论基础。

Abstract

Focus on the realization of two kinds of function of stabilization and tracking of lowDOF parallel mechanism,by using the screw theory,a 2-SUP（U）parallel mechanism is designed,and the DOF of this mechanism is analyzed.According to the motion characteristic of this parallel mechanism,using vector algorithms with Rodrigues parameters,the kinematics analysis is carried out,and the calculation method of position inverse and velocity inverse is deduced respectively.Moreover,the simulation is carried out with the Matlab,the position,velocity and other characteristics curve are obtained.The theory foundation for the control of position and velocity of this mechanism is provided.

关键词

并联机构螺旋理论运动学分析

Keywords

Parallel mechanismScrew theoryKinematics analysis

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