Location and Workspace Analysis of 2（2-UPR+RPU） Serial-parallel Hybrid Mechanism
In order to overcome the shortcomings of the parallel mechanism used in express delivery industry， such as small motion space and limited application scope，a 2 （2-UPR+RPU） series-parallel hybrid mechanism is proposed based on the 2-UPR+RPU low-DOF parallel mechanism. The inverse position solution an...
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| Format: | Article |
| Language: | zho |
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Editorial Office of Journal of Mechanical Transmission
2020-07-01
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| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2020.07.011 |
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| author | Ren Xin Bo Ruifeng Wu Xiaowei Li Ruiqin |
| author_facet | Ren Xin Bo Ruifeng Wu Xiaowei Li Ruiqin |
| author_sort | Ren Xin |
| collection | DOAJ |
| description | In order to overcome the shortcomings of the parallel mechanism used in express delivery industry， such as small motion space and limited application scope，a 2 （2-UPR+RPU） series-parallel hybrid mechanism is proposed based on the 2-UPR+RPU low-DOF parallel mechanism. The inverse position solution and workspace analysis are carried out in order to be applied in industrial production. Firstly，the hybrid mechanism is modeled in SolidWorks，and its degree of freedom is obtained by analyzing the screw theory. Then，the position inverse solution of the mechanism is solved by continuous method. Finally，the motion simulation is carried out in SolidWorks by using CAD variable geometry method and the track data of the processing points are obtained，and the workspace is obtained by using Matlab software. The workspace of 2 （2-UPR+RPU） hybrid mechanism is much larger than that of single-layer parallel mechanism，and its shape is regular and symmetrical. The 2（2-UPR+RPU） hybrid mechanism has both the flexibility of series mechanism and the high rigidity and precision of parallel mechanism. Through corresponding program control，it can replace manual work. |
| format | Article |
| id | doaj-art-275aeb578b5746c784f5b7c8db7995ec |
| institution | Kabale University |
| issn | 1004-2539 |
| language | zho |
| publishDate | 2020-07-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj-art-275aeb578b5746c784f5b7c8db7995ec2025-01-10T14:45:10ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392020-07-0144667031444288Location and Workspace Analysis of 2（2-UPR+RPU） Serial-parallel Hybrid MechanismRen XinBo RuifengWu XiaoweiLi RuiqinIn order to overcome the shortcomings of the parallel mechanism used in express delivery industry， such as small motion space and limited application scope，a 2 （2-UPR+RPU） series-parallel hybrid mechanism is proposed based on the 2-UPR+RPU low-DOF parallel mechanism. The inverse position solution and workspace analysis are carried out in order to be applied in industrial production. Firstly，the hybrid mechanism is modeled in SolidWorks，and its degree of freedom is obtained by analyzing the screw theory. Then，the position inverse solution of the mechanism is solved by continuous method. Finally，the motion simulation is carried out in SolidWorks by using CAD variable geometry method and the track data of the processing points are obtained，and the workspace is obtained by using Matlab software. The workspace of 2 （2-UPR+RPU） hybrid mechanism is much larger than that of single-layer parallel mechanism，and its shape is regular and symmetrical. The 2（2-UPR+RPU） hybrid mechanism has both the flexibility of series mechanism and the high rigidity and precision of parallel mechanism. Through corresponding program control，it can replace manual work.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2020.07.011Hybrid mechanism |
| spellingShingle | Ren Xin Bo Ruifeng Wu Xiaowei Li Ruiqin Location and Workspace Analysis of 2（2-UPR+RPU） Serial-parallel Hybrid Mechanism Jixie chuandong Hybrid mechanism |
| title | Location and Workspace Analysis of 2（2-UPR+RPU） Serial-parallel Hybrid Mechanism |
| title_full | Location and Workspace Analysis of 2（2-UPR+RPU） Serial-parallel Hybrid Mechanism |
| title_fullStr | Location and Workspace Analysis of 2（2-UPR+RPU） Serial-parallel Hybrid Mechanism |
| title_full_unstemmed | Location and Workspace Analysis of 2（2-UPR+RPU） Serial-parallel Hybrid Mechanism |
| title_short | Location and Workspace Analysis of 2（2-UPR+RPU） Serial-parallel Hybrid Mechanism |
| title_sort | location and workspace analysis of 2 2 upr rpu serial parallel hybrid mechanism |
| topic | Hybrid mechanism |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2020.07.011 |
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