Analysis of 5-DOF Parallel Driving Mechanisms and Their Position Resolution

被引：2
|
作者：
Zhang J. [1 ,3 ,4 ]
Shi H. [1 ]
Wang T. [1 ,3 ,4 ]
Huang Q. [1 ,3 ,4 ]
Jiang L. [2 ]
机构：
[1] College of Mechanical and Vehicle Engineering, Taiyuan University of Technology, Taiyuan
[2] State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin
[3] Advanced Forming and Intelligent Equipment Research Institute, Taiyuan University of Technology, Taiyuan
[4] Engineering Research Center of Advanced Metal Composites Forming Technology and Equipment, Ministry of Education, Taiyuan
来源：
Zhongguo Jixie Gongcheng/China Mechanical Engineering | 2021年 / 32卷 / 12期
关键词：
Jacobian matrix; Kinematics; Parallel driving mechanism; Position resolution ability;
D O I：
10.3969/j.issn.1004-132X.2021.12.004
中图分类号：
学科分类号：
摘要：
A multi-branch coupled parallel driving mechanism with three translations and two rotations was proposed. Degree of freedom and motion characteristics of end for the mechanism were analyzed based on position and orientation characteristics set method. Inverse kinematics model of the mechanisms was established by homogeneous transformation method. Full Jacobian matrix of parallel driving mechanisms was solved. Forward kinematics model was established based on the Newton iterative method, and theoretical model was verified by simulation. Reachable workspace of the mechanisms was drawn by CAD variational geometry method. Global position sensitivity coefficient index of the mechanisms was defined, and the influences of resolution for the driving system on the position resolution of the mechanisms under specific working conditions was analyzed systematically. © 2021, China Mechanical Engineering Magazine Office. All right reserved.
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页码：1414 / 1422and1431
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