Kinematics and Workspace Analysis of 4-SPRR-SPR 5-DOF Parallel Mechanism
Taking a 2T3R 5-DOF 4-SPRR-SPR parallel mechanism with rotating axis as the moving platform as the research object, the degree of freedom of the 4-SPRR-SPR parallel mechanism is analyzed by the screw theory, the inverse kinematics equation of the parallel mechanism is established by the vector metho...
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| Format: | Article |
| Language: | zho |
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Editorial Office of Journal of Mechanical Transmission
2019-12-01
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| Series: | Jixie chuandong |
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| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2019.12.018 |
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| author | Guo Qiang Cui Guohua Zhang Fan Yu Haidong Cheng Zhenyi |
| author_facet | Guo Qiang Cui Guohua Zhang Fan Yu Haidong Cheng Zhenyi |
| author_sort | Guo Qiang Cui Guohua Zhang Fan Yu Haidong Cheng Zhenyi |
| collection | DOAJ |
| description | Taking a 2T3R 5-DOF 4-SPRR-SPR parallel mechanism with rotating axis as the moving platform as the research object, the degree of freedom of the 4-SPRR-SPR parallel mechanism is analyzed by the screw theory, the inverse kinematics equation of the parallel mechanism is established by the vector method, the constraint of the pair of motion is analyzed in detail, and the workspace of the mechanism is obtained by the three-dimensional boundary search method. The results show that the workspace of the mechanism has the advantages of symmetry, no holes in the interior, regular cross-section shape, etc. At the same time, taking the workspace volume as the optimization objective, the influence curves of the constraints of the motion pair and the workspace volume are obtained, and the maximum factors affecting the workspace are obtained, it is the movement range of branch chain moving pair. The mechanism has good application prospects in cutting and grinding parts of complex space surface. |
| format | Article |
| id | doaj-art-c2df8aea055c4d09a34fdea1c03b7516 |
| institution | Kabale University |
| issn | 1004-2539 |
| language | zho |
| publishDate | 2019-12-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj-art-c2df8aea055c4d09a34fdea1c03b75162025-01-10T14:46:12ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392019-12-01439710231613085Kinematics and Workspace Analysis of 4-SPRR-SPR 5-DOF Parallel MechanismGuo Qiang Cui Guohua Zhang Fan Yu Haidong Cheng ZhenyiTaking a 2T3R 5-DOF 4-SPRR-SPR parallel mechanism with rotating axis as the moving platform as the research object, the degree of freedom of the 4-SPRR-SPR parallel mechanism is analyzed by the screw theory, the inverse kinematics equation of the parallel mechanism is established by the vector method, the constraint of the pair of motion is analyzed in detail, and the workspace of the mechanism is obtained by the three-dimensional boundary search method. The results show that the workspace of the mechanism has the advantages of symmetry, no holes in the interior, regular cross-section shape, etc. At the same time, taking the workspace volume as the optimization objective, the influence curves of the constraints of the motion pair and the workspace volume are obtained, and the maximum factors affecting the workspace are obtained, it is the movement range of branch chain moving pair. The mechanism has good application prospects in cutting and grinding parts of complex space surface.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2019.12.018Parallel mechanism |
| spellingShingle | Guo Qiang Cui Guohua Zhang Fan Yu Haidong Cheng Zhenyi Kinematics and Workspace Analysis of 4-SPRR-SPR 5-DOF Parallel Mechanism Jixie chuandong Parallel mechanism |
| title | Kinematics and Workspace Analysis of 4-SPRR-SPR 5-DOF Parallel Mechanism |
| title_full | Kinematics and Workspace Analysis of 4-SPRR-SPR 5-DOF Parallel Mechanism |
| title_fullStr | Kinematics and Workspace Analysis of 4-SPRR-SPR 5-DOF Parallel Mechanism |
| title_full_unstemmed | Kinematics and Workspace Analysis of 4-SPRR-SPR 5-DOF Parallel Mechanism |
| title_short | Kinematics and Workspace Analysis of 4-SPRR-SPR 5-DOF Parallel Mechanism |
| title_sort | kinematics and workspace analysis of 4 sprr spr 5 dof parallel mechanism |
| topic | Parallel mechanism |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2019.12.018 |
| work_keys_str_mv | AT guoqiangcuiguohuazhangfanyuhaidongchengzhenyi kinematicsandworkspaceanalysisof4sprrspr5dofparallelmechanism |