2RUS/RRS Parallel Mechanism and Its Kinematics Analysis

Geng Mingchao; Zhao Tieshi; Zhang Canguo

doi:10.16578/j.issn.1004.2539.2018.02.011

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2RUS/RRS Parallel Mechanism and Its Kinematics Analysis

更新时间：2022-10-20

- 2RUS/RRS Parallel Mechanism and Its Kinematics Analysis
- Vol. 42, Issue 2, Pages: 57-62(2018)
- 作者机构：
  
  1. 河北建筑工程学院机械工程学院
  2. 燕山大学河北省并联机器人与机电系统实验室
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2018.02.011
  CLC：
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[1]耿明超,赵铁石,张灿果.2RUS/2RRS并联机构及其运动学分析[J].机械传动,2018,42(02):57-62.

Geng Mingchao, Zhao Tieshi, Zhang Canguo. 2RUS/RRS Parallel Mechanism and Its Kinematics Analysis. [J]. 42(2):57-62(2018)
[1]耿明超,赵铁石,张灿果.2RUS/2RRS并联机构及其运动学分析[J].机械传动,2018,42(02):57-62. DOI： 10.16578/j.issn.1004.2539.2018.02.011.

Geng Mingchao, Zhao Tieshi, Zhang Canguo. 2RUS/RRS Parallel Mechanism and Its Kinematics Analysis. [J]. 42(2):57-62(2018) DOI： 10.16578/j.issn.1004.2539.2018.02.011.

摘要

基于车辆在行驶过程中的运动特性,提出了一种折叠式2RUS/2RRS并联机构作为车辆运动模拟台。结合分支提供的约束力螺旋的几何关系,得到了机构的自由度特性,并基于Grassmenn线几何对机构的输入选取合理性进行了分析。旋量能够简化刚体运动的表示形式,兼备几何直观性与代数抽象性。借助于旋量代数及影响系数理论,通过添加虚拟运动副,得到了机构旋量速度、加速度的映射关系。在ADAMS软件中使用"多段线"建立了该机构的模型,并对机构的运动学建模理论进行了数值验证。

Abstract

Based on the motion characters of the running cars,a foldable 2 RUS/2 RRS parallel mechanism is proposed as a car motion simulation platform. The geometrical relationship of force screw supplied by the branches is obtained,and the degrees of freedom feature is gotten. Also,based on the Grassmenn geometry,the input selection rationality of the mechanism is analyzed. The screw can simplify the representation of rigid body motion,and has geometric intuitiveness and algebraic abstractness. Referring to the screw algebra and the influence coefficient theory,the screw velocity and acceleration mapping relation of the mechanism are given by adding virtual joint. Using polyline in the ADAMS software,the mechanism model is established,and the numerical validation is performed on the theory of kinematics modeling of the mechanism.

关键词

并联机构旋量代数运动学输入选取

Keywords

Parallel mechanismScrew algebraKinematicsInput selection

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Related Institution

School of Mechanical Engineering, Chongqing University of Technology

School of Mechanical Electrical Engineering and Intelligent Manufacturing， HeNan Open University

Intelligent Equipment Division， Zhengzhou Research Institute of Mechanical engineering Co.， Ltd.

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