Kinematics simulation of 5-DOF parallel mechanisms

被引：1

作者：

Yu, Haidong ^{[1
]}

Guo, Qiang ^{[1
]}

Cui, Guohua ^{[1
]}

机构：

[1] Shanghai Univ Engn Sci, Sch Mech & Automot Engn, Shanghai, Peoples R China

来源：

PROCEEDINGS OF THE 2019 INTERNATIONAL CONFERENCE ON ROBOTICS, INTELLIGENT CONTROL AND ARTIFICIAL INTELLIGENCE (RICAI 2019) | 2019年

基金：

中国国家自然科学基金;

关键词：

Parallel mechanism; Freedom; Inverse kinematics; Adams; MANIPULATOR; DESIGN;

D O I：

10.1145/3366194.3366322

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

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.

引用

页码：712 / 717

页数：6

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