Kinematics and Transmission Performance Analyses of a 2T2R Type 4-DOF Spatial Parallel Manipulator

Author:

An Haiyan1,Li Bin12ORCID,Wang Shoujun12,Ge Weimin12

Affiliation:

1. Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control, School of Mechanical Engineering, Tianjin University of Technology, Tianjin 300384, China

2. National Demonstration Center for Experimental Mechanical and Electrical Engineering Education (Tianjin University of Technology), China

Abstract

A 2-RPU&2-SPS spatial parallel mechanism (SPM) is researched. Firstly, the number and property of degrees of freedom (DOF) of the SPM are analyzed by screw theory. There are two rotational and two translational movements (2R2T) of the mechanism that can be achieved. Secondly, the position analyses are researched. For the inverse position analysis, the explicit expression can be obtained from the independent motion parameters of the given mechanism, and the forward position problem is solved by calculating a set of nonlinear equation systems. Then we obtained the workspace of the mechanism based on the analytic formulae of the inverse displacement. Finally, by establishing the Jacobian matrix of the mechanism, the singularity of the mechanism is obtained, and the kinematics transmission performance of the mechanism is studied by using the index of the output efficiency of the limb output of the mechanism. This work will provide the theoretical basis for prototype development and application of the mechanism.

Funder

Intelligent Manufacturing Technology Major Project of Tianjin

Publisher

Hindawi Limited

Subject

General Computer Science,Control and Systems Engineering

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