Topological Design and Kinematic Performance Analysis of a New Parallel Mechanism with Two Translations and Two Rotations
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. Sec...
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| Format: | Article |
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Editorial Office of Journal of Mechanical Transmission
2023-12-01
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| Series: | Jixie chuandong |
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| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2023.12.004 |
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| author | Ji Encheng Shen Huiping Li Ju |
| author_facet | Ji Encheng Shen Huiping Li Ju |
| author_sort | Ji Encheng |
| collection | DOAJ |
| description | 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. |
| format | Article |
| id | doaj-art-cd5f1cccad354874b079742b2d1ef9be |
| institution | DOAJ |
| issn | 1004-2539 |
| language | zho |
| publishDate | 2023-12-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj-art-cd5f1cccad354874b079742b2d1ef9be2025-08-20T02:47:54ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392023-12-0147263346660473Topological Design and Kinematic Performance Analysis of a New Parallel Mechanism with Two Translations and Two RotationsJi EnchengShen HuipingLi JuFirstly, 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.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2023.12.004Parallel mechanismCoupling degreeSingularityPosition orientation characteristicsKinematics |
| spellingShingle | Ji Encheng Shen Huiping Li Ju Topological Design and Kinematic Performance Analysis of a New Parallel Mechanism with Two Translations and Two Rotations Jixie chuandong Parallel mechanism Coupling degree Singularity Position orientation characteristics Kinematics |
| title | Topological Design and Kinematic Performance Analysis of a New Parallel Mechanism with Two Translations and Two Rotations |
| title_full | Topological Design and Kinematic Performance Analysis of a New Parallel Mechanism with Two Translations and Two Rotations |
| title_fullStr | Topological Design and Kinematic Performance Analysis of a New Parallel Mechanism with Two Translations and Two Rotations |
| title_full_unstemmed | Topological Design and Kinematic Performance Analysis of a New Parallel Mechanism with Two Translations and Two Rotations |
| title_short | Topological Design and Kinematic Performance Analysis of a New Parallel Mechanism with Two Translations and Two Rotations |
| title_sort | topological design and kinematic performance analysis of a new parallel mechanism with two translations and two rotations |
| topic | Parallel mechanism Coupling degree Singularity Position orientation characteristics Kinematics |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2023.12.004 |
| work_keys_str_mv | AT jiencheng topologicaldesignandkinematicperformanceanalysisofanewparallelmechanismwithtwotranslationsandtworotations AT shenhuiping topologicaldesignandkinematicperformanceanalysisofanewparallelmechanismwithtwotranslationsandtworotations AT liju topologicaldesignandkinematicperformanceanalysisofanewparallelmechanismwithtwotranslationsandtworotations |