Topological Design and Kinematic Performance Analysis of a New Parallel Mechanism with Two Translations and Two Rotations

Ji Encheng; Shen Huiping; Li Ju

doi:10.16578/j.issn.1004.2539.2023.12.004

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Topological Design and Kinematic Performance Analysis of a New Parallel Mechanism with Two Translations and Two Rotations

Theory·Research | 更新时间：2023-12-21

- Topological Design and Kinematic Performance Analysis of a New Parallel Mechanism with Two Translations and Two Rotations
- Journal of Mechanical Transmission Vol. 47, Issue 12, Pages: 26-33(2023)
- 作者机构：
  
  常州大学现代机构学研究中心，江苏常州 213016
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2023.12.004
  CLC：
- Published：15 December 2023，
  
  Received：17 September 2022，
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吉恩成,沈惠平,李菊.一种新型两平移两转动并联机构的拓扑设计及其运动学性能分析[J].机械传动,2023,47(12):26-33.

Ji Encheng,Shen Huiping,Li Ju.Topological Design and Kinematic Performance Analysis of a New Parallel Mechanism with Two Translations and Two Rotations[J].Journal of Mechanical Transmission,2023,47(12):26-33.
吉恩成,沈惠平,李菊.一种新型两平移两转动并联机构的拓扑设计及其运动学性能分析[J].机械传动,2023,47(12):26-33. DOI： 10.16578/j.issn.1004.2539.2023.12.004.

Ji Encheng,Shen Huiping,Li Ju.Topological Design and Kinematic Performance Analysis of a New Parallel Mechanism with Two Translations and Two Rotations[J].Journal of Mechanical Transmission,2023,47(12):26-33. DOI： 10.16578/j.issn.1004.2539.2023.12.004.

摘要

首先，基于并联机构拓扑结构设计方法设计了两平移两转动（2T2R）并联机构，其耦合度为1，并计算了方位特征（Position Orientation Characteristics，POC）集、约束度和自由度；其次，分析了该机构的拓扑特征运动学，求解了该机构的位置正解与位置反解，验证了正解与反解的正确性；最后，基于位置反解对该机构的奇异性、工作空间进行分析计算，得到了机构可能发生的奇异位置，并求得了机构的最大可达空间。这为机构的动力学和动平衡研究以及样机制造奠定了基础。

Abstract

Firstly

based on the topological structure design method of the parallel mechanism

a two-translation and two-rotation (2T2R) parallel mechanism is designed. Its coupling degree is 1

and the position orientation characteristics （POC） set

constraint degree and degree of freedom are calculated. Secondly

the topological characteristic kinematics of the mechanism is analyzed

and the forward and inverse position solutions of the mechanism are solved

which verifies the correctness of the forward and inverse solutions. Finally

based on the inverse position solution

the singularity and workspace of the mechanism are analyzed and calculated

the possible singular position of the mechanism is obtained

and the maximum reachable space of the mechanism is obtained

which lay a foundation for the dynamics and dynamic balance research of the mechanism

as well as the manufacturing of the prototype.

关键词

并联机构耦合度奇异性方位特征运动学

Keywords

Parallel mechanismCoupling degreeSingularityPosition orientation characteristicsKinematics

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