Kinematics and Workspace Analysis of a New Type of 3-DOF Redundant Parallel Mechanism
Due to higher stiffness, better dynamics performance, etc., the redundantly driven parallel mechanisms are increasingly used in various industries. A 3-DOF redundant parallel mechanism with a double-slider structure is proposed. Based on the direct position solution and inverse position solution, th...
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| Format: | Article |
| Language: | zho |
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Editorial Office of Journal of Mechanical Transmission
2019-07-01
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| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2019.07.023 |
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| _version_ | 1841548839651115008 |
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| author | Xiaoru Li Juan Huang Xinghui Li |
| author_facet | Xiaoru Li Juan Huang Xinghui Li |
| author_sort | Xiaoru Li |
| collection | DOAJ |
| description | Due to higher stiffness, better dynamics performance, etc., the redundantly driven parallel mechanisms are increasingly used in various industries. A 3-DOF redundant parallel mechanism with a double-slider structure is proposed. Based on the direct position solution and inverse position solution, the kinematics equation of the mechanism is deduced separately, and the kinematics simulation are carried out by combining the inverse solution equation with MATLAB to draw the drive displacement and speed. Combining kinematics analysis results and direct position solution equations to analyze the workspace of the mechanism, and drawing the three-dimensional workspace of the mechanism. The results of kinematics and workspace show that the mechanism runs smoothly in the workspace, without sudden change in speed, displacement, etc., and the workspace has good symmetry about <italic>XOZ</italic>. The research results also provide the foundation for the practical redundant application of this configuration redundant parallel mechanism. |
| format | Article |
| id | doaj-art-7f436ba1f8b4405fb6459eac8bfac5ff |
| institution | Kabale University |
| issn | 1004-2539 |
| language | zho |
| publishDate | 2019-07-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj-art-7f436ba1f8b4405fb6459eac8bfac5ff2025-01-10T13:58:45ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392019-07-014313013530649372Kinematics and Workspace Analysis of a New Type of 3-DOF Redundant Parallel MechanismXiaoru LiJuan HuangXinghui LiDue to higher stiffness, better dynamics performance, etc., the redundantly driven parallel mechanisms are increasingly used in various industries. A 3-DOF redundant parallel mechanism with a double-slider structure is proposed. Based on the direct position solution and inverse position solution, the kinematics equation of the mechanism is deduced separately, and the kinematics simulation are carried out by combining the inverse solution equation with MATLAB to draw the drive displacement and speed. Combining kinematics analysis results and direct position solution equations to analyze the workspace of the mechanism, and drawing the three-dimensional workspace of the mechanism. The results of kinematics and workspace show that the mechanism runs smoothly in the workspace, without sudden change in speed, displacement, etc., and the workspace has good symmetry about <italic>XOZ</italic>. The research results also provide the foundation for the practical redundant application of this configuration redundant parallel mechanism.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2019.07.023Redundantly drivenParallel mechanismKinematics performanceWorkspace |
| spellingShingle | Xiaoru Li Juan Huang Xinghui Li Kinematics and Workspace Analysis of a New Type of 3-DOF Redundant Parallel Mechanism Jixie chuandong Redundantly driven Parallel mechanism Kinematics performance Workspace |
| title | Kinematics and Workspace Analysis of a New Type of 3-DOF Redundant Parallel Mechanism |
| title_full | Kinematics and Workspace Analysis of a New Type of 3-DOF Redundant Parallel Mechanism |
| title_fullStr | Kinematics and Workspace Analysis of a New Type of 3-DOF Redundant Parallel Mechanism |
| title_full_unstemmed | Kinematics and Workspace Analysis of a New Type of 3-DOF Redundant Parallel Mechanism |
| title_short | Kinematics and Workspace Analysis of a New Type of 3-DOF Redundant Parallel Mechanism |
| title_sort | kinematics and workspace analysis of a new type of 3 dof redundant parallel mechanism |
| topic | Redundantly driven Parallel mechanism Kinematics performance Workspace |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2019.07.023 |
| work_keys_str_mv | AT xiaoruli kinematicsandworkspaceanalysisofanewtypeof3dofredundantparallelmechanism AT juanhuang kinematicsandworkspaceanalysisofanewtypeof3dofredundantparallelmechanism AT xinghuili kinematicsandworkspaceanalysisofanewtypeof3dofredundantparallelmechanism |