Kinematics Analysis of a 2PRP<sub>a</sub>U-2PSS Parallel Mechanism

Zheng Xin; Du Li; Che Linxian; Li Jie; Huang Xin; Lu Jiahong; Yi Hongyu

doi:10.16578/j.issn.1004.2539.2022.11.008

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Kinematics Analysis of a 2PRP_aU-2PSS Parallel Mechanism

Design· Calculation | 更新时间：2022-12-01

- Kinematics Analysis of a 2PRP_aU-2PSS Parallel Mechanism
- Journal of Mechanical Transmission Vol. 46, Issue 11, Pages: 47-54(2022)
- 作者机构：
  
  1.重庆工商大学机械工程学院，重庆 400067
  2.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
  3.重庆工程职业技术学院智能制造学院，重庆 402260
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2022.11.008
  CLC：
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郑鑫,杜力,车林仙等.2PRP_aU-2PSS并联机构运动学分析[J].机械传动,2022,46(11):47-54.

Zheng Xin,Du Li,Che Linxian,et al.Kinematics Analysis of a 2PRP_aU-2PSS Parallel Mechanism[J].Journal of Mechanical Transmission,2022,46(11):47-54.
郑鑫,杜力,车林仙等.2PRP_aU-2PSS并联机构运动学分析[J].机械传动,2022,46(11):47-54. DOI： 10.16578/j.issn.1004.2539.2022.11.008.

Zheng Xin,Du Li,Che Linxian,et al.Kinematics Analysis of a 2PRP_aU-2PSS Parallel Mechanism[J].Journal of Mechanical Transmission,2022,46(11):47-54. DOI： 10.16578/j.issn.1004.2539.2022.11.008.

摘要

面向抓取和分拣等场合，提出一种新型三移动一转动2PRP,a,U-2PSS并联机构，对其进行了运动学分析。应用方位特征集理论分析了机构约束特性、自由度和结构耦合度；根据杆长约束条件，建立机构位置分析非线性方程组，将位置正解问题转化为求一元方程，并应用改进灰狼优化算法求解该问题；推导出机构速度和加速度正逆解解析表达式；给出机构运动学分析数值算例，根据理论模型，运用Matlab软件绘制位移、速度和加速度曲线，同时应用Adams软件进行了仿真验证。结果显示，理论分析与数字仿真结果一致，表明给出的运动学分析模型和计算方法正确可靠。

Abstract

Facing the occasion of grasping and sorting, a novel 3T1R planar symmetric parallel mechanism, named 2PRP,a,U-2PSS PM, is proposed, and its kinematics is analyzed in detail. The degree of freedom and coupling degree are addressed through the position and orientation characteristic (POC) theory. The mathematical models of displacement and orientation, velocity and acceleration analysis are derived by utilizing the vector method. Meanwhile, the nonlinear equations of forward displacement are transformed into one-dimensional equation, thus using the improved grey wolf optimization algorithm to solve this problem. A numerical example is given to verify the correctness of the kinematical mathematical model, the displacement, velocity, and acceleration curves are obtained with the aid of Matlab, and then Adams is used for simulation verification. Finally, the two results are basically consistent, which indicates that the kinematic mathematical models of the discussed mechanism derived are correct and reliable.

关键词

并联机构方位特征集位置正解分析运动学分析灰狼优化算法

Keywords

Parallel mechanismPosition and orientation characteristicForward position solution analysisKinematics analysisGrey wolf optimization algorithm

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Kinematics Analysis of a 2PRPaU-2PSS Parallel Mechanism

DOI：10.16578/j.issn.1004.2539.2022.11.008

摘要

Abstract

关键词

Keywords

references

Kinematics Analysis of a 2PRP_aU-2PSS Parallel Mechanism