Type Synthesis of 5-DOF Series-parallel based on Single-opened-chain and Position and Orientation Characteristic Set
A 5-DOF series-parallel robot is designed based on the single-opened-chain and position and orientation characteristic set， and the configuration synthesis and degrees of freedom of the 5-DOF series-parallel robot are calculated and analyzed to verify that the proposed mechanism meets the design req...
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| Main Authors: | , , , |
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| Format: | Article |
| Language: | zho |
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Editorial Office of Journal of Mechanical Transmission
2021-09-01
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| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2021.09.006 |
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| _version_ | 1841547296275169280 |
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| author | Bangcheng Zhang Yage Wang Yu Yao Qifei Peng |
| author_facet | Bangcheng Zhang Yage Wang Yu Yao Qifei Peng |
| author_sort | Bangcheng Zhang |
| collection | DOAJ |
| description | A 5-DOF series-parallel robot is designed based on the single-opened-chain and position and orientation characteristic set， and the configuration synthesis and degrees of freedom of the 5-DOF series-parallel robot are calculated and analyzed to verify that the proposed mechanism meets the design requirements. The kinematics of the 5-DOF series-parallel robot is further discussed， and the position inverse solution of the parallel mechanism and the speed of the moving platform are analyzed. The Adams software is used to simulate the designed 5-DOF series-parallel robot to verify the feasibility of the mechanism. The results show that the proposed mechanism has the characteristics of relatively stable motion and large working space， which provides a reference basis for the multi-drive control of the 5-DOF series-parallel mechanism. |
| format | Article |
| id | doaj-art-c8842a48451f4fd6952331e753a6d6db |
| institution | Kabale University |
| issn | 1004-2539 |
| language | zho |
| publishDate | 2021-09-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj-art-c8842a48451f4fd6952331e753a6d6db2025-01-10T14:48:07ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392021-09-0145404618849486Type Synthesis of 5-DOF Series-parallel based on Single-opened-chain and Position and Orientation Characteristic SetBangcheng ZhangYage WangYu YaoQifei PengA 5-DOF series-parallel robot is designed based on the single-opened-chain and position and orientation characteristic set， and the configuration synthesis and degrees of freedom of the 5-DOF series-parallel robot are calculated and analyzed to verify that the proposed mechanism meets the design requirements. The kinematics of the 5-DOF series-parallel robot is further discussed， and the position inverse solution of the parallel mechanism and the speed of the moving platform are analyzed. The Adams software is used to simulate the designed 5-DOF series-parallel robot to verify the feasibility of the mechanism. The results show that the proposed mechanism has the characteristics of relatively stable motion and large working space， which provides a reference basis for the multi-drive control of the 5-DOF series-parallel mechanism.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2021.09.0065-DOFSeries-parallel mechanismSingle-opened-chainPosition and orientation characteristic setKinematics |
| spellingShingle | Bangcheng Zhang Yage Wang Yu Yao Qifei Peng Type Synthesis of 5-DOF Series-parallel based on Single-opened-chain and Position and Orientation Characteristic Set Jixie chuandong 5-DOF Series-parallel mechanism Single-opened-chain Position and orientation characteristic set Kinematics |
| title | Type Synthesis of 5-DOF Series-parallel based on Single-opened-chain and Position and Orientation Characteristic Set |
| title_full | Type Synthesis of 5-DOF Series-parallel based on Single-opened-chain and Position and Orientation Characteristic Set |
| title_fullStr | Type Synthesis of 5-DOF Series-parallel based on Single-opened-chain and Position and Orientation Characteristic Set |
| title_full_unstemmed | Type Synthesis of 5-DOF Series-parallel based on Single-opened-chain and Position and Orientation Characteristic Set |
| title_short | Type Synthesis of 5-DOF Series-parallel based on Single-opened-chain and Position and Orientation Characteristic Set |
| title_sort | type synthesis of 5 dof series parallel based on single opened chain and position and orientation characteristic set |
| topic | 5-DOF Series-parallel mechanism Single-opened-chain Position and orientation characteristic set Kinematics |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2021.09.006 |
| work_keys_str_mv | AT bangchengzhang typesynthesisof5dofseriesparallelbasedonsingleopenedchainandpositionandorientationcharacteristicset AT yagewang typesynthesisof5dofseriesparallelbasedonsingleopenedchainandpositionandorientationcharacteristicset AT yuyao typesynthesisof5dofseriesparallelbasedonsingleopenedchainandpositionandorientationcharacteristicset AT qifeipeng typesynthesisof5dofseriesparallelbasedonsingleopenedchainandpositionandorientationcharacteristicset |