Kinematics Analysis of 2-PrRS-PR(P)S Parallel Metamorphic Mechanism
A novel parallel metamorphic mechanism of 2-PrRS-PRS mechanism that can change the orientations of the axis of the revolute pair is designed based on the theory of metamorphic mechanism that change the orientation of kinematic pairs can lead to configuration transformation. This mechanism consists o...
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| Format: | Article |
| Language: | zho |
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Editorial Office of Journal of Mechanical Transmission
2019-08-01
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| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2019.08.012 |
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| _version_ | 1841548874761633792 |
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| author | Kun Ma Hongwei Ma Haibo Tian Gang Dong |
| author_facet | Kun Ma Hongwei Ma Haibo Tian Gang Dong |
| author_sort | Kun Ma |
| collection | DOAJ |
| description | A novel parallel metamorphic mechanism of 2-PrRS-PRS mechanism that can change the orientations of the axis of the revolute pair is designed based on the theory of metamorphic mechanism that change the orientation of kinematic pairs can lead to configuration transformation. This mechanism consists of three kinematic chains fixed on base plate and moving plate. To change the output and workspace, the revolute pair of two kinematic chains can change its rotation axis by the prismatic pair which is the drive pair. According the characteristic of the mechanism, the degree of freedom is analyzed using the screw theory. By using closed vector method and geometric constraint, the forward position and the inverse solution of the mechanism are built, and the velocity and acceleration equation of the mechanism are obtained by derivation. By using Matlab, the parameters of the mechanism and positions are substituted into, the forward and inverse solutions are solved, the figure of position and orientation is drawn. The correctness of theoretical analysis is verified by Adams simulation. |
| format | Article |
| id | doaj-art-fad40eca2d2c454a9a2b0c47526cf355 |
| institution | Kabale University |
| issn | 1004-2539 |
| language | zho |
| publishDate | 2019-08-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj-art-fad40eca2d2c454a9a2b0c47526cf3552025-01-10T13:59:22ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392019-08-0143647030644173Kinematics Analysis of 2-PrRS-PR(P)S Parallel Metamorphic MechanismKun MaHongwei MaHaibo TianGang DongA novel parallel metamorphic mechanism of 2-PrRS-PRS mechanism that can change the orientations of the axis of the revolute pair is designed based on the theory of metamorphic mechanism that change the orientation of kinematic pairs can lead to configuration transformation. This mechanism consists of three kinematic chains fixed on base plate and moving plate. To change the output and workspace, the revolute pair of two kinematic chains can change its rotation axis by the prismatic pair which is the drive pair. According the characteristic of the mechanism, the degree of freedom is analyzed using the screw theory. By using closed vector method and geometric constraint, the forward position and the inverse solution of the mechanism are built, and the velocity and acceleration equation of the mechanism are obtained by derivation. By using Matlab, the parameters of the mechanism and positions are substituted into, the forward and inverse solutions are solved, the figure of position and orientation is drawn. The correctness of theoretical analysis is verified by Adams simulation.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2019.08.012Parallel mechanismMetamorphic mechanismKinematics analysisKinematics simulation |
| spellingShingle | Kun Ma Hongwei Ma Haibo Tian Gang Dong Kinematics Analysis of 2-PrRS-PR(P)S Parallel Metamorphic Mechanism Jixie chuandong Parallel mechanism Metamorphic mechanism Kinematics analysis Kinematics simulation |
| title | Kinematics Analysis of 2-PrRS-PR(P)S Parallel Metamorphic Mechanism |
| title_full | Kinematics Analysis of 2-PrRS-PR(P)S Parallel Metamorphic Mechanism |
| title_fullStr | Kinematics Analysis of 2-PrRS-PR(P)S Parallel Metamorphic Mechanism |
| title_full_unstemmed | Kinematics Analysis of 2-PrRS-PR(P)S Parallel Metamorphic Mechanism |
| title_short | Kinematics Analysis of 2-PrRS-PR(P)S Parallel Metamorphic Mechanism |
| title_sort | kinematics analysis of 2 prrs pr p s parallel metamorphic mechanism |
| topic | Parallel mechanism Metamorphic mechanism Kinematics analysis Kinematics simulation |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2019.08.012 |
| work_keys_str_mv | AT kunma kinematicsanalysisof2prrsprpsparallelmetamorphicmechanism AT hongweima kinematicsanalysisof2prrsprpsparallelmetamorphicmechanism AT haibotian kinematicsanalysisof2prrsprpsparallelmetamorphicmechanism AT gangdong kinematicsanalysisof2prrsprpsparallelmetamorphicmechanism |