Kinematics simulation of 5-DOF parallel mechanisms

Taking a 5-DOF 4-SPRR-SPR parallel mechanism as the research object, the spiral theory is used to analyze the degree of freedom of the 4-SPRR-SPR parallel mechanism, and the closed-vector method is used to establish the inverse kinematics equation of the parallel mechanism.The virtual prototype is built by Solidworks, and it is imported into Adams to verify the correctness of kinematics inverse solution by taking the welding sphere as an example. The velocity, acceleration curve and force of the driving rod at the end of the mechanism are obtained. The results show that the mechanism has five degrees of freedom of 3T2R, and its inverse solution is fast and convergent. The inverse kinematics solution is correct and the force transfer performance of the driving rod is good. Because of its characteristics of five degrees of freedom, high stiffness and high bearing capacity, this mechanism has great application prospects in friction stir welding of complex surface in space.