Kinematics Analysis of 2-PrRS-PR(P)S Parallel Metamorphic Mechanism

Kun Ma; Hongwei Ma; Haibo Tian; Gang Dong

doi:10.16578/j.issn.1004.2539.2019.08.012

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Kinematics Analysis of 2-PrRS-PR(P)S Parallel Metamorphic Mechanism

Design· Calculation | 更新时间：2022-09-25

- Kinematics Analysis of 2-PrRS-PR(P)S Parallel Metamorphic Mechanism
- Journal of Mechanical Transmission Vol. 43, Issue 8, Pages: 64-70(2019)
- 作者机构：
  
  1.西安科技大学机械工程学院，陕西西安 710054
  2.中国平煤神马集团中平信息技术有限责任公司，河南平顶山 467000
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2019.08.012
  CLC：
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马琨,马宏伟,田海波等.2-PrRS-PR（P）S并联变胞机构运动学分析[J].机械传动,2019,43(08):64-70.

Ma Kun,Ma Hongwei,Tian Haibo,et al.Kinematics Analysis of 2-PrRS-PR(P)S Parallel Metamorphic Mechanism[J].Journal of Mechanical Transmission,2019,43(08):64-70.
马琨,马宏伟,田海波等.2-PrRS-PR（P）S并联变胞机构运动学分析[J].机械传动,2019,43(08):64-70. DOI： 10.16578/j.issn.1004.2539.2019.08.012.

Ma Kun,Ma Hongwei,Tian Haibo,et al.Kinematics Analysis of 2-PrRS-PR(P)S Parallel Metamorphic Mechanism[J].Journal of Mechanical Transmission,2019,43(08):64-70. DOI： 10.16578/j.issn.1004.2539.2019.08.012.

摘要

根据变胞机构理论中改变运动副方位特征实现构态变换的原理，设计一种新型可变转动轴线的2-PrRS-PR（P）S并联变胞机构。其中，两条分支能够利用移动副的位移变化改变转动副的转动轴线，从而改变机构运动输出。根据该机构特点，利用螺旋理论对机构进行自由度分析，利用封闭矢量法和几何约束关系建立机构位置正解和逆解模型，并通过求导得出机构的速度加速度方程；应用Matlab代入机构参数和位型参数，求解位置正解和逆解，绘制机构位姿图；利用Adams仿真验证了理论分析的正确性。

Abstract

A novel parallel metamorphic mechanism of 2-PrRS-PRS mechanism that can change the orientations of the axis of the revolute pair is designed based on the theory of metamorphic mechanism that change the orientation of kinematic pairs can lead to configuration transformation. This mechanism consists of three kinematic chains fixed on base plate and moving plate. To change the output and workspace, the revolute pair of two kinematic chains can change its rotation axis by the prismatic pair which is the drive pair. According the characteristic of the mechanism, the degree of freedom is analyzed using the screw theory. By using closed vector method and geometric constraint, the forward position and the inverse solution of the mechanism are built, and the velocity and acceleration equation of the mechanism are obtained by derivation. By using Matlab, the parameters of the mechanism and positions are substituted into, the forward and inverse solutions are solved, the figure of position and orientation is drawn. The correctness of theoretical analysis is verified by Adams simulation.

关键词

并联机构变胞机构运动学分析运动学仿真

Keywords

Parallel mechanismMetamorphic mechanismKinematics analysisKinematics simulation

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