Research of Kinematics and Workspace of 2-SPR/(U+UPR)P(vA) Reconfigurable Parallel Mechanism
A 2-SPR/(U+UPR)P(vA) redundant parallel mechanism with reconfigurable kinematic pairs is proposed，which can be applied to parallel operation platform. Firstly，the spiral matrix of the 2-SPR/(U+UPR)P(vA) parallel mechanism is established，the DOF of the mechanism under the R and U phases are solved，an...
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| Format: | Article |
| Language: | zho |
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Editorial Office of Journal of Mechanical Transmission
2021-06-01
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| Series: | Jixie chuandong |
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| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2021.06.001 |
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| author | Chunsheng Ma Wenbo Mi Xiaoqin Yin Zhendong Ma |
| author_facet | Chunsheng Ma Wenbo Mi Xiaoqin Yin Zhendong Ma |
| author_sort | Chunsheng Ma |
| collection | DOAJ |
| description | A 2-SPR/(U+UPR)P(vA) redundant parallel mechanism with reconfigurable kinematic pairs is proposed，which can be applied to parallel operation platform. Firstly，the spiral matrix of the 2-SPR/(U+UPR)P(vA) parallel mechanism is established，the DOF of the mechanism under the R and U phases are solved，and the DOF of the mechanism are verified by using modified Kutzbach-Grübler formula. Secondly，the closed-loop vector method is used to solve the two sets of inverse kinematic solutions of the mechanism and verification，and the particle swarm optimization algorithm is used to study and establish the positive solution model of the mechanism under the R phase and verify. Finally，software to solve the mechanism's reachable workspace under the R phase and the translational workspace under the U phase are solved using SolidWorks combing with Matlab. The research results provide theoretical support for the further optimization and practical application of the mechanism. |
| format | Article |
| id | doaj-art-d56c66b0aec349f491177e8168ce3e96 |
| institution | Kabale University |
| issn | 1004-2539 |
| language | zho |
| publishDate | 2021-06-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj-art-d56c66b0aec349f491177e8168ce3e962025-01-10T14:48:55ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392021-06-01451711256072Research of Kinematics and Workspace of 2-SPR/(U+UPR)P(vA) Reconfigurable Parallel MechanismChunsheng MaWenbo MiXiaoqin YinZhendong MaA 2-SPR/(U+UPR)P(vA) redundant parallel mechanism with reconfigurable kinematic pairs is proposed，which can be applied to parallel operation platform. Firstly，the spiral matrix of the 2-SPR/(U+UPR)P(vA) parallel mechanism is established，the DOF of the mechanism under the R and U phases are solved，and the DOF of the mechanism are verified by using modified Kutzbach-Grübler formula. Secondly，the closed-loop vector method is used to solve the two sets of inverse kinematic solutions of the mechanism and verification，and the particle swarm optimization algorithm is used to study and establish the positive solution model of the mechanism under the R phase and verify. Finally，software to solve the mechanism's reachable workspace under the R phase and the translational workspace under the U phase are solved using SolidWorks combing with Matlab. The research results provide theoretical support for the further optimization and practical application of the mechanism.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2021.06.001Reconfigurable parallel mechanismKinematics analysisParticle swarm optimizationWorkspace |
| spellingShingle | Chunsheng Ma Wenbo Mi Xiaoqin Yin Zhendong Ma Research of Kinematics and Workspace of 2-SPR/(U+UPR)P(vA) Reconfigurable Parallel Mechanism Jixie chuandong Reconfigurable parallel mechanism Kinematics analysis Particle swarm optimization Workspace |
| title | Research of Kinematics and Workspace of 2-SPR/(U+UPR)P(vA) Reconfigurable Parallel Mechanism |
| title_full | Research of Kinematics and Workspace of 2-SPR/(U+UPR)P(vA) Reconfigurable Parallel Mechanism |
| title_fullStr | Research of Kinematics and Workspace of 2-SPR/(U+UPR)P(vA) Reconfigurable Parallel Mechanism |
| title_full_unstemmed | Research of Kinematics and Workspace of 2-SPR/(U+UPR)P(vA) Reconfigurable Parallel Mechanism |
| title_short | Research of Kinematics and Workspace of 2-SPR/(U+UPR)P(vA) Reconfigurable Parallel Mechanism |
| title_sort | research of kinematics and workspace of 2 spr u upr p va reconfigurable parallel mechanism |
| topic | Reconfigurable parallel mechanism Kinematics analysis Particle swarm optimization Workspace |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2021.06.001 |
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