Analysis and application of a 2-DOF planar parallel mechanism

被引：37
|
作者：
Wu, Jun [1 ]
Wang, Jinsong [1 ]
Li, Tiemin [1 ]
Wang, Liping [1 ]
机构：
[1] Tsinghua Univ, Dept Precis Instruments, Beijing 100084, Peoples R China
来源：
JOURNAL OF MECHANICAL DESIGN | 2007年 / 129卷 / 04期
关键词：
D O I：
10.1115/1.2437800
中图分类号：
TH [机械、仪表工业];
学科分类号：
0802 ;
摘要：
This paper deals with the optimal kinematic design, dynamic analysis, and application of a 2 degree of freedom (2-DOF) planar parallel mechanism. In the optimal kinematic design phase, the singularities and workspace are investigated, and the optimal kinematic parameters of the mechanism are achieved by minimizing a global and comprehensive conditioning index. The Newton-Euler method is employed to derive the inverse dynamic model. Dynamic simulations show that the inertia force of moving parts is an important factor affecting the dynamic characteristics of the mechanism. The parallel mechanism is incorporated into a 4-DOF hybrid machine tool which also includes a 2-DOF work-table to demonstrate its applicability.
引用
收藏
页码：434 / 437
页数：4
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