Kinematics Analysis and Simulation of a Novel 3T Parallel Mechanism-Reference-Cited by-同舟云学术

Kinematics Analysis and Simulation of a Novel 3T Parallel Mechanism

Published:2022-03-07 Issue: Volume:2022 Page:1-12
ISSN:1563-5147
Container-title:Mathematical Problems in Engineering
language:en
Short-container-title:Mathematical Problems in Engineering

Author:

Huang Yongdong¹^ORCID,Lu Quanguo¹^ORCID,Wang Hongzhou²³^ORCID,Liu Jinfeng¹^ORCID,Li Zhihao¹^ORCID,Zou Xiaohui²^ORCID,Zhan Xiaohuang²^ORCID

Affiliation:

1. Jiangxi Province Key Laboratory of Precision Drive and Control, Nanchang Institute of Technology, Nanchang, China

2. Jiangxi Institute of Mechanical Science, Nanchang, China

3. School of Mechatronic Engineering and Automation, Shanghai University, Shanghai, China

Abstract

Three translational (3T) degree-of-freedom (DOF) parallel mechanism is widely used in the industrial field because of its compact structure and excellent dynamic performance. Combined with the 3T parallel mechanism studied at this stage, a novel 3T parallel mechanism is proposed. Firstly, the DOF of the mechanism is analyzed by using the screw theory. Secondly, the position, velocity, and singularity of the mechanism are analyzed, and the workspace of the mechanism is analyzed through the positive position solution. Then, the trajectory planning in joint space and coordinate space is completed, and a common mathematical model of grasping trajectory is established. Thirdly, the kinematics simulation analysis of the mechanism is carried out. Finally, the prototype platform was built and the grasping experiment was carried out, which verified the rationality of the mechanism design and the correctness of the theoretical analysis.

Funder

Key Scientific and Technological Support Topics in Jiangxi Province

Publisher

Hindawi Limited

Subject

General Engineering,General Mathematics

Link

http://downloads.hindawi.com/journals/mpe/2022/3424012.pdf

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