Study on the Dynamics of 2-GRR(FR)/GRR Parallel Deflection Platform
A new 2-GRR(FR)/GRR parallel drive bidirectional deflection platform is proposed. The movable platform is connected with the base through two branches which are crisscross and concentric in space，and the platform can deflect at large-angle area in both <italic>X</italic> and <italic&g...
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| Format: | Article |
| Language: | zho |
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Editorial Office of Journal of Mechanical Transmission
2020-03-01
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| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2020.03.016 |
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| author | Xu Yongshuai Chen Chun Wang Jiawei Xu Huiru |
| author_facet | Xu Yongshuai Chen Chun Wang Jiawei Xu Huiru |
| author_sort | Xu Yongshuai |
| collection | DOAJ |
| description | A new 2-GRR(FR)/GRR parallel drive bidirectional deflection platform is proposed. The movable platform is connected with the base through two branches which are crisscross and concentric in space，and the platform can deflect at large-angle area in both <italic>X</italic> and <italic>Y</italic> directions. Taking one of the branches as the research object，the local coordinate system of each component is established by D-H method，and the inverse kinematics analysis is performed. The analytical equation is obtained by using the bivariate inverse tangent function. Then the force and moment balance equations of each component are established according to the D'Alembert principle. The dynamics model of the platform is derived by New-Euler method，and the dynamic model is used to calculate the parallel drive bidirectional deflection platform. The graph of the driving torque required to achieve the specified motion under given external force and external torque is obtained. |
| format | Article |
| id | doaj-art-ec781f85058a4f15a385b60f815390ee |
| institution | Kabale University |
| issn | 1004-2539 |
| language | zho |
| publishDate | 2020-03-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj-art-ec781f85058a4f15a385b60f815390ee2025-01-10T14:44:09ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392020-03-01449710231441714Study on the Dynamics of 2-GRR(FR)/GRR Parallel Deflection PlatformXu YongshuaiChen ChunWang JiaweiXu HuiruA new 2-GRR(FR)/GRR parallel drive bidirectional deflection platform is proposed. The movable platform is connected with the base through two branches which are crisscross and concentric in space，and the platform can deflect at large-angle area in both <italic>X</italic> and <italic>Y</italic> directions. Taking one of the branches as the research object，the local coordinate system of each component is established by D-H method，and the inverse kinematics analysis is performed. The analytical equation is obtained by using the bivariate inverse tangent function. Then the force and moment balance equations of each component are established according to the D'Alembert principle. The dynamics model of the platform is derived by New-Euler method，and the dynamic model is used to calculate the parallel drive bidirectional deflection platform. The graph of the driving torque required to achieve the specified motion under given external force and external torque is obtained.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2020.03.016Parallel driving |
| spellingShingle | Xu Yongshuai Chen Chun Wang Jiawei Xu Huiru Study on the Dynamics of 2-GRR(FR)/GRR Parallel Deflection Platform Jixie chuandong Parallel driving |
| title | Study on the Dynamics of 2-GRR(FR)/GRR Parallel Deflection Platform |
| title_full | Study on the Dynamics of 2-GRR(FR)/GRR Parallel Deflection Platform |
| title_fullStr | Study on the Dynamics of 2-GRR(FR)/GRR Parallel Deflection Platform |
| title_full_unstemmed | Study on the Dynamics of 2-GRR(FR)/GRR Parallel Deflection Platform |
| title_short | Study on the Dynamics of 2-GRR(FR)/GRR Parallel Deflection Platform |
| title_sort | study on the dynamics of 2 grr fr grr parallel deflection platform |
| topic | Parallel driving |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2020.03.016 |
| work_keys_str_mv | AT xuyongshuai studyonthedynamicsof2grrfrgrrparalleldeflectionplatform AT chenchun studyonthedynamicsof2grrfrgrrparalleldeflectionplatform AT wangjiawei studyonthedynamicsof2grrfrgrrparalleldeflectionplatform AT xuhuiru studyonthedynamicsof2grrfrgrrparalleldeflectionplatform |