Kinematics Analysis of 3T1R 4-PRP<sub>a</sub>U Parallel Mechanism

Shikun Wen; Linxian Che; Li Du; Guowang Chen

doi:10.16578/j.issn.1004.2539.2020.11.020

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Kinematics Analysis of 3T1R 4-PRP_aU Parallel Mechanism

Test·Analysis | 更新时间：2022-11-10

- Kinematics Analysis of 3T1R 4-PRP_aU Parallel Mechanism
- Journal of Mechanical Transmission Vol. 44, Issue 11, Pages: 121-126(2020)
- 作者机构：
  
  1.重庆工商大学制造装备机构设计与控制重庆市重点实验室，重庆 400067
  2.重庆理工大学机械工程学院，重庆 400054
  3.重庆工程职业技术学院机械工程学院，重庆 402260
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2020.11.020
  CLC：
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文世坤,车林仙,杜力等.三移动一转动4-PRP_aU并联机构运动学分析[J].机械传动,2020,44(11):121-126.

Wen Shikun,Che Linxian,Du Li,et al.Kinematics Analysis of 3T1R 4-PRP_aU Parallel Mechanism[J].Journal of Mechanical Transmission,2020,44(11):121-126.
文世坤,车林仙,杜力等.三移动一转动4-PRP_aU并联机构运动学分析[J].机械传动,2020,44(11):121-126. DOI： 10.16578/j.issn.1004.2539.2020.11.020.

Wen Shikun,Che Linxian,Du Li,et al.Kinematics Analysis of 3T1R 4-PRP_aU Parallel Mechanism[J].Journal of Mechanical Transmission,2020,44(11):121-126. DOI： 10.16578/j.issn.1004.2539.2020.11.020.

摘要

提出一种对称三移动一转动（3T1R）4-PRP,a,U并联机构。根据杆长条件，建立机构位置正解模型，再转化为无约束优化问题，并运用差分进化算法求解。推导出机构位置逆解解析表达式，运用机构位置逆解验证机构位置正解的正确性。运用矢量法推导出机构速度、加速度表达式，给定机构尺度参数，并运用Matlab进行数值仿真。同时，运用Adams进行运动学仿真。结果表明，Adams运动仿真曲线与Matlab数值仿真曲线一致，验证了理论推导的正确性。

Abstract

A parallel mechanism with symmetrical 3TIR （4-PRP,a,U） is presented. In accordance with the condition of rod length， the model of positional forward solution is established， then it is transformed into an unconstrained optimization problem and solved by differential evolution algorithm. The analytical expression of the inverse solution of mechanism position is derived and the correctness of the forward displacement of mechanism position is verified by using the inverse solution of mechanism position. The vector method is applied to derive the expressions of mechanism velocity and acceleration to give the mechanism scale parameters and number imitation is conducted with Matlab. At the same time， the Adams is used for kinematics simulation. The results show that the Adams motion simulation curve is consistent with the Matlab numerical simulation curve， which verifies the correctness of the theoretical derivation.

关键词

并联机构运动学分析矢量法Adams仿真

Keywords

Parallel mechanismKinematics analysisVector methodAdams simulation

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Kinematics Analysis of 3T1R 4-PRPaU Parallel Mechanism

DOI：10.16578/j.issn.1004.2539.2020.11.020

摘要

Abstract

关键词

Keywords

references

Kinematics Analysis of 3T1R 4-PRP_aU Parallel Mechanism