Kinematics Analysis of a Planar Symmetric (CRR)<sub>2</sub>S-(3R)<sub>2</sub>R Parallel Mechanism

Jie Li; Linxian Che; Li Du; Xin Zheng

doi:10.16578/j.issn.1004.2539.2021.06.009

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Kinematics Analysis of a Planar Symmetric (CRR)₂S-(3R)₂R Parallel Mechanism

Design· Calculation | 更新时间：2022-11-10

- Kinematics Analysis of a Planar Symmetric (CRR)₂S-(3R)₂R Parallel Mechanism
- Journal of Mechanical Transmission Vol. 45, Issue 6, Pages: 58-64(2021)
- 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.重庆工程职业技术学院智能制造与交通学院，重庆 402260
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2021.06.009
  CLC：
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李杰,车林仙,杜力等.面对称（CRR）₂S-（3R）₂R并联机构运动学分析[J].机械传动,2021,45(06):58-64.

Li Jie,Che Linxian,Du Li,et al.Kinematics Analysis of a Planar Symmetric (CRR)₂S-(3R)₂R Parallel Mechanism[J].Journal of Mechanical Transmission,2021,45(06):58-64.
李杰,车林仙,杜力等.面对称（CRR）₂S-（3R）₂R并联机构运动学分析[J].机械传动,2021,45(06):58-64. DOI： 10.16578/j.issn.1004.2539.2021.06.009.

Li Jie,Che Linxian,Du Li,et al.Kinematics Analysis of a Planar Symmetric (CRR)₂S-(3R)₂R Parallel Mechanism[J].Journal of Mechanical Transmission,2021,45(06):58-64. DOI： 10.16578/j.issn.1004.2539.2021.06.009.

摘要

以一种两移动两转动（2T2R）自由度面对称（CRR）,2,S-（3R）,2,R并联机构为研究对象，基于方位特征集理论分析该机构的自由度数目和性质，并对其进行了运动学分析。应用坐标变换法，建立求机构位置正解的非线性方程组，并采用差分进化算法求解该方程组。推导出机构逆解解析表达式，应用数值算例验证机构正解、逆解的正确性。采用矢量法推导机构速度及加速度表达式，并应用Matlab编程绘制机构的位置、速度和加速度曲线。同时，应用Adams进行运动学仿真，并求得Matlab理论曲线与Adams仿真曲线的最大误差。结果表明，二者运动学分析曲线基本一致，表明该机构理论分析正确可靠。

Abstract

Taking a planar symmetrical (CRR)2S-(3R)2R parallel mechanism with two translations and two rotations (2T2R) as the research object，based on the position and orientation characteristic set theory analyzes the number and nature of the mechanism’s degree of freedom and then this study analyzes its kinematics problems. The coordinate transformation method is applied to establish a set of nonlinear equations for the positive solution of the mechanism position，and the differential evolution algorithm is used to find the set of equations. The analytical expressions for the inverse solution of the mechanism are derived，and numerical examples are used to verify the correctness of the forward and inverse solutions of the mechanism. The vector method is used to derive the velocity and acceleration expressions of the mechanism，and Matlab is applied to program the position，velocity and acceleration curves of the mechanism. At the same time，Adams is used for kinematics simulation，and the maximum error between the Matlab theoretical curve and the Adams simulation curve is obtained. The result shows that the kinematic analysis curves of the two are basically the same，indicating that the theoretical analysis of the mechanism is correct and reliable.

关键词

并联机构方位特征位置正解分析运动学分析Adams仿真

Keywords

Parallel mechanismPosition and orientation characteristicForward displacement analysisKinematics analysisAdams simulation

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Kinematics Analysis of a Planar Symmetric (CRR)2S-(3R)2R Parallel Mechanism

DOI：10.16578/j.issn.1004.2539.2021.06.009

摘要

Abstract

关键词

Keywords

references

Kinematics Analysis of a Planar Symmetric (CRR)₂S-(3R)₂R Parallel Mechanism