Kinematics Analysis and Optimization Design of Noval 4-DOF Parallel Mechanism

被引：5
|
作者：
Wang X.-L. [1 ]
Zhao D.-J. [1 ]
Zhang B. [1 ]
Li W. [1 ]
机构：
[1] College of Engineering, China Agricultural University, Beijing
来源：
Dongbei Daxue Xuebao/Journal of Northeastern University | 2018年 / 39卷 / 04期
关键词：
Global performance index; Influence coefficient matrices; Kinematics; Parallel mechanism; Virtual mechanism method;
D O I：
10.12068/j.issn.1005-3026.2018.04.016
中图分类号：
学科分类号：
摘要：
A novel 3UPS-UPR 4-DOF parallel mechanism (PM) with three UPS-type active legs and one UPR-type active leg was presented. A three-dimensional model and the inverse kinematic formulas of this PM were constructed, the first-order and second-order comprehensive influence coefficient matrices were derived based on virtual mechanism method, and analytic formulas for solving the velocity and acceleration of this PM were derived. The global performance index of this PM was analyzed using the condition number of Jacobian matrix, the impact trend of the moving platform and fixed base's dimensions on global performance index was obtained, and the dimensions with good velocity and acceleration performances were obtained. Numerical examples verified the correctness of global performance index, and provided foundation for the optimization design of PMs. © 2018, Editorial Department of Journal of Northeastern University. All right reserved.
引用
收藏
页码：532 / 537
页数：5
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