Analysis of Kinematics and Simulation Research of a 5 DOF Parallel Mechanism

Chenyu Wang; Shiwen Yang; Hao Xia

doi:10.16578/j.issn.1004.2539.2019.02.016

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Analysis of Kinematics and Simulation Research of a 5 DOF Parallel Mechanism

Design· Calculation | 更新时间：2022-10-09

- Analysis of Kinematics and Simulation Research of a 5 DOF Parallel Mechanism
- Journal of Mechanical Transmission Vol. 43, Issue 2, Pages: 85-88(2019)
- 作者机构：
  
  1.中北大学能源与动力工程学院，山西太原 030051
  2.中北大学机械工程学院，山西太原 030051
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2019.02.016
  CLC：
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王辰宇,杨世文,夏昊.一种5自由度并联机构运动学及仿真研究[J].机械传动,2019,43(02):85-88.

Wang Chenyu,Yang Shiwen,Xia Hao.Analysis of Kinematics and Simulation Research of a 5 DOF Parallel Mechanism[J].Journal of Mechanical Transmission,2019,43(02):85-88.
王辰宇,杨世文,夏昊.一种5自由度并联机构运动学及仿真研究[J].机械传动,2019,43(02):85-88. DOI： 10.16578/j.issn.1004.2539.2019.02.016.

Wang Chenyu,Yang Shiwen,Xia Hao.Analysis of Kinematics and Simulation Research of a 5 DOF Parallel Mechanism[J].Journal of Mechanical Transmission,2019,43(02):85-88. DOI： 10.16578/j.issn.1004.2539.2019.02.016.

摘要

针对需要5自由度的特殊情况，提出一种新的5自由度的并联机构，对其运动学进行分析。应用螺旋理论以及修正的G-K公式验证了该并联机构所具有的自由度，运用闭环矢量法求该机构的位姿反解，基于Matlab及Adams软件对该机构进行运动学仿真。得出了该机构的自由度情况及Matlab和Adams得到的反解运动曲线。通过Adams仿真验证了该机构自由度求解的正确性，对比Matlab和Adams的反解运动曲线验证了该机构反解的正确性。

Abstract

A new 5 degree of freedom parallel mechanism is proposed for the special case of 5 degrees of freedom， and its kinematics is analyzed. Using the spiral theory and the modified G-K formula， the degree of freedom of the parallel mechanism is verified， and the inverse kinematics of the mechanism is solved by the closed loop vector method. The kinematics simulation of the mechanism is carried out based on the Matlab and Adams. The degree of freedom of the mechanism and the inverse kinematics curve obtained by Matlab and Adams are obtained. The correctness of the degree of freedom of the mechanism is verified by Adams simulation， and the correctness of the inverse solution of the mechanism is verified by comparing the inverse kinematics curves of Matlab and Adams.

关键词

5自由度并联机构运动学Adams

Keywords

5 degree of freedomParallel mechanismKinematicsAdams

references

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Related Institution

School of Mechanical Engineering, Chongqing University of Technology

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