作者: Zhong Jie Chen, Qui Ju Zhang, Chun Jian Hua

摘要: In this paper, the kinematic analysis on a 3-DOF Delta parallel mechanism was carried out and the relationship models between the end cell output motions and the master arms input parameters were established. The forward and inverse solutions to position, velocity and acceleration were deduced and then verified by simulation, the curves that gotten by calculation and simulation were smooth, and no mutations or jumps appeared. In the meantime, based on the kinematic analysis, the impact of Jacobian matrix on the manipulator singular configuration was discussed, and the maneuverability in the reachable space was obtain quantitatively, meanwhile, the value of cond(C(Jv)) was located in the acceptable range, which approached to the isotropic value, so, the theory basis for optimal design was provided. The methods and conclusions in this paper are helpful to the design and control of 3-DOF Delta parallel mechanism.

114

作者: Hong Jian Yu, Bing Li, Yang Wang, Ying Hu

摘要: In this paper a novel 4 Degree-of-Freedom (DOF) parallel mechanism with the configuration of 4PUS-1RPU is applied for a 5-axis Hybrid Kinematic Machine (HKM), combined with an additional linear motion. The Parallel Kinematic Mechanism (PKM) is composed of four symmetrical driving chains and one central passive sub-chain. Firstly, the mechanism is described, and the mobility is analyzed. Then the inverse kinematics of the 4-DOF PKM and the direct kinematics for the serial central sub-chain are then presented. The dexterity and the workspace analysis for the mechanism are also carried out. Finally, machining experiment research is presented to verify the effect of the prototype. The research provides the basis for the further parametric design with consideration of kinematic and dexterity performance.

420

作者: Hong Jun San, Yuan Ming Wang, Jian Xiong Liu

摘要: In this paper, forward and inverse position solution are analyzed for a novel 2UPR/1SPR special 3-DOF parallel mechanism. The moving platform of this mechanism have 1 translational DOF and 2 rotational DOFs. The inverse position solution of this mechanism was deduced by analytical method. The decoupling equation of position and posture parameters are formulated on the basis of structural constraint of the concerned mechanism. The forward position solution of this mechanism is achieved by numerical method.

1573

作者: De Xue Bi, Chao Zhuo Guo, Xu Man Zhang

摘要: This paper presents a new design approach of parallel robot for quick grasp based on parallelogram mechanism，and derives the dynamics model. Using SimMechanics toolbox and simlink toolbox in Matlab Software, and guiding the three dimensional solid model into it, the dynamics simulation and control on two DOF parallel robot is designed and studied. The experimental results show that the design mechanism obtains the anticipated requirement.

448

作者: Liu Jie, Tang Yi, Li Hua Li, Xian Fei Li, Xiao Dong Liang

摘要: During the use of 6－DOF(six degrees of freedom) platform the gravity center of force tends to deviate from the center of the upper platform, resulting in six rods are forced unbalanced. This paper firstly introduces the characteristics of the 6－DOF platform, then establishes simulation model of platform through the PRO/E software, and analyses the kinematics of platform by use of the ADAMS (Automatic Dynamics Analysis of Mechanical System) software, finally proceeds with dynamics analysis of six rods in unbalanced condition.Those will get the influence degree of rods under the unbalanced force,and provide some proposal for the rational use of the platform.

658