Kinematics Analysis on 3-DOF Orthogonal Translational Parallel Mechanism Platform

Ge Zhenghao; Bai Pengyu; Han Xiaohu; Liu Xuesong

doi:10.16578/j.issn.1004.2539.2020.02.012

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Kinematics Analysis on 3-DOF Orthogonal Translational Parallel Mechanism Platform

Design· Calculation | 更新时间：2022-10-25

- Kinematics Analysis on 3-DOF Orthogonal Translational Parallel Mechanism Platform
- Journal of Mechanical Transmission Vol. 44, Issue 2, Pages: 80-87(2020)
- 作者机构：
  
  1.陕西科技大学机电工程学院，陕西西安 710021
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2020.02.012
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葛正浩,白鹏虞,韩小虎等.正交3自由度平动并联机构平台的运动学分析[J].机械传动,2020,44(02):80-87.

Ge Zhenghao Bai Pengyu Han Xiaohu Liu Xuesong.Kinematics Analysis on 3-DOF Orthogonal Translational Parallel Mechanism Platform[J].Journal of Mechanical Transmission,2020,44(02):80-87.
葛正浩,白鹏虞,韩小虎等.正交3自由度平动并联机构平台的运动学分析[J].机械传动,2020,44(02):80-87. DOI： 10.16578/j.issn.1004.2539.2020.02.012.

Ge Zhenghao Bai Pengyu Han Xiaohu Liu Xuesong.Kinematics Analysis on 3-DOF Orthogonal Translational Parallel Mechanism Platform[J].Journal of Mechanical Transmission,2020,44(02):80-87. DOI： 10.16578/j.issn.1004.2539.2020.02.012.

摘要

为了研究正交3自由度平动并联机构平台，设计了该并联机构平台构型；利用校正后的Kutzabach-Grubler自由度计算公式验证该并联机构平台的输出是3自由度运动；根据各构件之间的几何关系，探求各运动支链的夹角与摆臂之间的约束方程；通过运动坐标系和固定坐标系相互之间的映射关系，建立并联机构运动平台参考点的位置方程；对并联机构平台的位置正、逆解等内容进行求解，得到了并联机构平台的速度与加速度表达式。最后，根据设定好的运动规律参数对其进行运动学仿真，并在运动平台上设定参考点，获得了运动平台的运动轨迹和相关运动规律曲线图，验证了并联机构平台的动态性能。

Abstract

In order to study the platform of orthogonal three-degree-of-freedom translational parallel mechanism， the platform configuration of the parallel mechanism is designed， and the corrected Kutzabach-Grubler freedom formula is used to verify that the output of the parallel mechanism platform is a three-degree-of-freedom motion. According to the geometric relationship between different components， the various movements of the branched chain constraint equations between angle and swing arm are explored. The position positive solution equation and inverse solution equation are established according to the geometric constraint relationship between the motion coordinates and fixed coordinates. The speed and acceleration expressions of the parallel mechanism platform are obtained. Finally， the kinematics simulation is carried out according to the set motion law parameters， and the reference point is set on the motion platform. And the motion trajectory of the motion platform and the related motion law curve are obtained， and the dynamic performance of the parallel mechanism platform is verified.

关键词

正交平动并联机构 3自由度 Kutzabach-Grubler 运动学分析

Keywords

Orthogonal translational parallel mechanism3-degree-of-freedomKutzabach-GrublerKinematics analysis

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