Configuration and Inverse Position Solution Analysis of a Novel（（2-RPR&RP）+R） &UPR Parallel Mechanism
A novel large swing angle 1T2R parallel mechanism is proposed. First,the one-dimensional translational and two-dimensional rotation motion of this mechanism are analyzed based on the relation of motion and constraint in screw theory. The DOF of the mechanism is calculated,and the driving joints are...
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| Format: | Article |
| Language: | zho |
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Editorial Office of Journal of Mechanical Transmission
2016-01-01
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| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2016.09.003 |
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| _version_ | 1841548010798972928 |
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| author | Hu Weiwei Mei Ying Wang Shusen Huang Faqun |
| author_facet | Hu Weiwei Mei Ying Wang Shusen Huang Faqun |
| author_sort | Hu Weiwei |
| collection | DOAJ |
| description | A novel large swing angle 1T2R parallel mechanism is proposed. First,the one-dimensional translational and two-dimensional rotation motion of this mechanism are analyzed based on the relation of motion and constraint in screw theory. The DOF of the mechanism is calculated,and the driving joints are chosen.Then,the inverse position solution equation of the mechanism is established by using analytical vector method and the geometric relation. At last,the position inverse solution is obtained by using MATLAB and the results simulation verification is carried out by using ADAMS,which verify that the correctness of the inverse position solution model and the realizability of the mechanism. This parallel mechanism with a large swing angle,can be used in hybrid machine of parallel modules to achieve large swing angle five-axis machining. |
| format | Article |
| id | doaj-art-d543f96b32534f109c8252b06fa96742 |
| institution | Kabale University |
| issn | 1004-2539 |
| language | zho |
| publishDate | 2016-01-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj-art-d543f96b32534f109c8252b06fa967422025-01-10T14:15:35ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392016-01-0140131629925833Configuration and Inverse Position Solution Analysis of a Novel（（2-RPR&RP）+R） &UPR Parallel MechanismHu WeiweiMei YingWang ShusenHuang FaqunA novel large swing angle 1T2R parallel mechanism is proposed. First,the one-dimensional translational and two-dimensional rotation motion of this mechanism are analyzed based on the relation of motion and constraint in screw theory. The DOF of the mechanism is calculated,and the driving joints are chosen.Then,the inverse position solution equation of the mechanism is established by using analytical vector method and the geometric relation. At last,the position inverse solution is obtained by using MATLAB and the results simulation verification is carried out by using ADAMS,which verify that the correctness of the inverse position solution model and the realizability of the mechanism. This parallel mechanism with a large swing angle,can be used in hybrid machine of parallel modules to achieve large swing angle five-axis machining.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2016.09.003Large swing angleParallel mechanismScrew theoryInverse position solution |
| spellingShingle | Hu Weiwei Mei Ying Wang Shusen Huang Faqun Configuration and Inverse Position Solution Analysis of a Novel（（2-RPR&RP）+R） &UPR Parallel Mechanism Jixie chuandong Large swing angle Parallel mechanism Screw theory Inverse position solution |
| title | Configuration and Inverse Position Solution Analysis of a Novel（（2-RPR&RP）+R） &UPR Parallel Mechanism |
| title_full | Configuration and Inverse Position Solution Analysis of a Novel（（2-RPR&RP）+R） &UPR Parallel Mechanism |
| title_fullStr | Configuration and Inverse Position Solution Analysis of a Novel（（2-RPR&RP）+R） &UPR Parallel Mechanism |
| title_full_unstemmed | Configuration and Inverse Position Solution Analysis of a Novel（（2-RPR&RP）+R） &UPR Parallel Mechanism |
| title_short | Configuration and Inverse Position Solution Analysis of a Novel（（2-RPR&RP）+R） &UPR Parallel Mechanism |
| title_sort | configuration and inverse position solution analysis of a novel 2 rpr amp rp r amp upr parallel mechanism |
| topic | Large swing angle Parallel mechanism Screw theory Inverse position solution |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2016.09.003 |
| work_keys_str_mv | AT huweiwei configurationandinversepositionsolutionanalysisofanovel2rpramprprampuprparallelmechanism AT meiying configurationandinversepositionsolutionanalysisofanovel2rpramprprampuprparallelmechanism AT wangshusen configurationandinversepositionsolutionanalysisofanovel2rpramprprampuprparallelmechanism AT huangfaqun configurationandinversepositionsolutionanalysisofanovel2rpramprprampuprparallelmechanism |