Kinematics Analysis of 3T1R 4-PRP<sub>a</sub>U Parallel Mechanism
A parallel mechanism with symmetrical 3TIR （4-PRP<sub>a</sub>U） is presented. In accordance with the condition of rod length， the model of positional forward solution is established， then it is transformed into an unconstrained optimization problem and solved by differential evolution al...
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| Format: | Article |
| Language: | zho |
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Editorial Office of Journal of Mechanical Transmission
2020-11-01
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| Series: | Jixie chuandong |
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| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2020.11.020 |
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| _version_ | 1841547186269061120 |
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| author | Shikun Wen Linxian Che Li Du Guowang Chen |
| author_facet | Shikun Wen Linxian Che Li Du Guowang Chen |
| author_sort | Shikun Wen |
| collection | DOAJ |
| description | A parallel mechanism with symmetrical 3TIR （4-PRP<sub>a</sub>U） is presented. In accordance with the condition of rod length， the model of positional forward solution is established， then it is transformed into an unconstrained optimization problem and solved by differential evolution algorithm. The analytical expression of the inverse solution of mechanism position is derived and the correctness of the forward displacement of mechanism position is verified by using the inverse solution of mechanism position. The vector method is applied to derive the expressions of mechanism velocity and acceleration to give the mechanism scale parameters and number imitation is conducted with Matlab. At the same time， the Adams is used for kinematics simulation. The results show that the Adams motion simulation curve is consistent with the Matlab numerical simulation curve， which verifies the correctness of the theoretical derivation. |
| format | Article |
| id | doaj-art-ede7859173264c5ab61c2d2c980b94de |
| institution | Kabale University |
| issn | 1004-2539 |
| language | zho |
| publishDate | 2020-11-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj-art-ede7859173264c5ab61c2d2c980b94de2025-01-10T14:55:00ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392020-11-014412112629792449Kinematics Analysis of 3T1R 4-PRP<sub>a</sub>U Parallel MechanismShikun WenLinxian CheLi DuGuowang ChenA parallel mechanism with symmetrical 3TIR （4-PRP<sub>a</sub>U） is presented. In accordance with the condition of rod length， the model of positional forward solution is established， then it is transformed into an unconstrained optimization problem and solved by differential evolution algorithm. The analytical expression of the inverse solution of mechanism position is derived and the correctness of the forward displacement of mechanism position is verified by using the inverse solution of mechanism position. The vector method is applied to derive the expressions of mechanism velocity and acceleration to give the mechanism scale parameters and number imitation is conducted with Matlab. At the same time， the Adams is used for kinematics simulation. The results show that the Adams motion simulation curve is consistent with the Matlab numerical simulation curve， which verifies the correctness of the theoretical derivation.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2020.11.020Parallel mechanismKinematics analysisVector methodAdams simulation |
| spellingShingle | Shikun Wen Linxian Che Li Du Guowang Chen Kinematics Analysis of 3T1R 4-PRP<sub>a</sub>U Parallel Mechanism Jixie chuandong Parallel mechanism Kinematics analysis Vector method Adams simulation |
| title | Kinematics Analysis of 3T1R 4-PRP<sub>a</sub>U Parallel Mechanism |
| title_full | Kinematics Analysis of 3T1R 4-PRP<sub>a</sub>U Parallel Mechanism |
| title_fullStr | Kinematics Analysis of 3T1R 4-PRP<sub>a</sub>U Parallel Mechanism |
| title_full_unstemmed | Kinematics Analysis of 3T1R 4-PRP<sub>a</sub>U Parallel Mechanism |
| title_short | Kinematics Analysis of 3T1R 4-PRP<sub>a</sub>U Parallel Mechanism |
| title_sort | kinematics analysis of 3t1r 4 prp sub a sub u parallel mechanism |
| topic | Parallel mechanism Kinematics analysis Vector method Adams simulation |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2020.11.020 |
| work_keys_str_mv | AT shikunwen kinematicsanalysisof3t1r4prpsubasubuparallelmechanism AT linxianche kinematicsanalysisof3t1r4prpsubasubuparallelmechanism AT lidu kinematicsanalysisof3t1r4prpsubasubuparallelmechanism AT guowangchen kinematicsanalysisof3t1r4prpsubasubuparallelmechanism |