Experimental Study on the Forward and Inverse Solution of 5R Planar Parallel Mechanism with Large Workspace

Wu Xiao; Qin Huibin; Shen Xuyang; Hou Zhili; Niu Jinrong

doi:10.16578/j.issn.1004.2539.2018.03.027

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Experimental Study on the Forward and Inverse Solution of 5R Planar Parallel Mechanism with Large Workspace

更新时间：2022-10-20

- Experimental Study on the Forward and Inverse Solution of 5R Planar Parallel Mechanism with Large Workspace
- Vol. 42, Issue 3, Pages: 129-135(2018)
- 作者机构：
  
  1. 中北大学机械工程学院
  2. 太原理工大学机械工程学院
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2018.03.027
  CLC：
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[1]吴霄,秦慧斌,申旭阳,侯志利,牛金荣.大工作空间5R平面并联机构的正逆互解验证实验研究[J].机械传动,2018,42(03):129-135.

Wu Xiao, Qin Huibin, Shen Xuyang, et al. Experimental Study on the Forward and Inverse Solution of 5R Planar Parallel Mechanism with Large Workspace. [J]. 42(3):129-135(2018)
[1]吴霄,秦慧斌,申旭阳,侯志利,牛金荣.大工作空间5R平面并联机构的正逆互解验证实验研究[J].机械传动,2018,42(03):129-135. DOI： 10.16578/j.issn.1004.2539.2018.03.027.

Wu Xiao, Qin Huibin, Shen Xuyang, et al. Experimental Study on the Forward and Inverse Solution of 5R Planar Parallel Mechanism with Large Workspace. [J]. 42(3):129-135(2018) DOI： 10.16578/j.issn.1004.2539.2018.03.027.

摘要

针对平面两自由度并联机构工作空间小的不足,提出一种变驱动布局大工作空间5R机构。在运动学分析基础上,利用Solid Works软件建立并联机构的三维运动学仿真分析模型,在Motion分析环境中改变原动件的运动参数,求解出并联机构的运动轨迹及其可达工作空间,完成其正解分析;另外,搭建并联机构的运动学实验平台,在Solid Works软件中画出给定轨迹,利用Solid Works软件逆解得出两伺服电机各时刻的转速,结合运动控制函数,编写上位机运行程序,通过PCI-DMC-F01运动控制卡对伺服电机进行控制,使末端执行器按照预期轨迹运动。实验轨迹、工作空间与正逆解结果一致,实验表明5R机构正逆互解的正确性和可行性,并在此基础上给出了大工作空间并联机构的应用实例。研究工作对拓展5R并联机构的工程应用具有参考价值。

Abstract

Aiming at the shortage that the workspace of planar parallel mechanism with two degrees of freedom is small,a 5 R mechanism of variable drive layout of large workspace is presented. On the basis of kinematics analysis,3 D kinematics simulation analysis model of parallel mechanism is built by using the SolidWorks. The motion trajectory and workspace of the parallel mechanism are solved by changing the motion parameters of cranks in the environment of Motion analysis. The forward solution analysis is completed. In addition,the kinematics experimental platform of parallel mechanism is built. The required trajectory can be drawn in Solid Works. Two servo motors’ speeds of any time can be obtained by inverse solution of Solid Works. Combined with the motion control functions,the running program of PC is written. The servo motors are controlled by PCI-DMC-F01 motion control card. Therefore,the end effector can move along the desired trajectory. The experimental trajectory and workspace are in accord with the results of the forward and inverse solutions. The experimental results show that the forward and inverse solution of 5 R mechanism is correct and feasible. In addition,on the basis of it,the application example of parallel mechanism with large workspace is provided. This research has reference value for the engineering application of 5 R parallel mechanism.

关键词

5R机构变驱动布局工作空间运动轨迹正逆互解

Keywords

5R mechanismVariable drive layoutWorkspaceMotion trajectoryForward and inverse solution

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