Configuration and Inverse Position Solution Analysis of a Novel（（2-RPR&amp;RP）+R） &amp;UPR Parallel Mechanism

Hu Weiwei; Mei Ying; Wang Shusen; Huang Faqun

doi:10.16578/j.issn.1004.2539.2016.09.003

您当前的位置：

首页 >

文章列表页 >

Configuration and Inverse Position Solution Analysis of a Novel（（2-RPR&RP）+R） &UPR Parallel Mechanism

更新时间：2022-10-20

- Configuration and Inverse Position Solution Analysis of a Novel（（2-RPR&RP）+R） &UPR Parallel Mechanism
- Vol. 40, Issue 9, Pages: 13-16(2016)
- 作者机构：
  
  1. 中北大学机械与动力工程学院
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2016.09.003
  CLC：
扫描看全文
[1]胡微微,梅瑛,王书森,黄发群.新型并联机构((2-RPR&RP)+R)&UPR构型及位置逆解分析[J].机械传动,2016,40(09):13-16.

Hu Weiwei, Mei Ying, Wang Shusen, et al. Configuration and Inverse Position Solution Analysis of a Novel（（2-RPR&RP）+R） &UPR Parallel Mechanism. [J]. 40(9):13-16(2016)
[1]胡微微,梅瑛,王书森,黄发群.新型并联机构((2-RPR&RP)+R)&UPR构型及位置逆解分析[J].机械传动,2016,40(09):13-16. DOI： 10.16578/j.issn.1004.2539.2016.09.003.

Hu Weiwei, Mei Ying, Wang Shusen, et al. Configuration and Inverse Position Solution Analysis of a Novel（（2-RPR&RP）+R） &UPR Parallel Mechanism. [J]. 40(9):13-16(2016) DOI： 10.16578/j.issn.1004.2539.2016.09.003.

摘要

提出了一种新型1T2R大摆角并联机构。首先,运用螺旋理论中运动和约束的关系分析了该机构实现1T2R运动原理,计算出该机构的自由度,进行了输入选取;然后,利用解析矢量法及几何关系建立机构位置逆解方程;最后,应用MATLAB对逆解方程进行求解并利用ADAMS对求解结果进行仿真验证,验证了逆解模型的正确性及机构的可实现性。该并联机构可实现大的摆角,可作为并联模块应用于混联机床,实现大摆角五轴联动加工。

Abstract

A novel large swing angle 1T2R parallel mechanism is proposed. First,the one-dimensional translational and two-dimensional rotation motion of this mechanism are analyzed based on the relation of motion and constraint in screw theory. The DOF of the mechanism is calculated,and the driving joints are chosen.Then,the inverse position solution equation of the mechanism is established by using analytical vector method and the geometric relation. At last,the position inverse solution is obtained by using MATLAB and the results simulation verification is carried out by using ADAMS,which verify that the correctness of the inverse position solution model and the realizability of the mechanism. This parallel mechanism with a large swing angle,can be used in hybrid machine of parallel modules to achieve large swing angle five-axis machining.

关键词

大摆角并联机构旋量理论位置逆解

Keywords

Large swing angleParallel mechanismScrew theoryInverse position solution

references

Views

139

下载量

CSCD

Alert me when the article has been cited

提交

Tools

Publicity Resources

Research of the Mechanism Design and Inverse Kinematics of a Novel Five-Axis Gantry Hybrid Machine Tool

Inverse Position Solution and Workspace Analysis of a 2T2R Parallel Mechanism

Dynamic Modeling and Simulation Control of 3-DOF Bionic Shoulder Joint

Design of a Flapping Aircraft with Variable Angles of Attack Based on a RC/RRU Parallel Mechanism

Design and Analysis of a Parallel Mechanism for Circular Spherical Translation and One-dimensional Rotation

Related Author

No data

Related Institution

Taiyuan Railway Machinery School

School of Mechanical Engineering，North University of China

Jincheng College,Nanjing University of Aeronautics and Astronautics

College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics

School of Mechanical Engineering, Chongqing University of Technology

⁰

Configuration and Inverse Position Solution Analysis of a Novel（（2-RPR&RP）+R） &UPR Parallel Mechanism

DOI：10.16578/j.issn.1004.2539.2016.09.003

摘要

Abstract

关键词

Keywords

references