Design and Analysis of a Novel 2T2R Parallel Mechanism with the Closed-loop Limbs

doi:10.1007/s11633-021-1294-z

CORC > 自动化研究所 > 中国科学院自动化研究所 > 学术期刊 > International Journal of Automation and Computing

	Design and Analysis of a Novel 2T2R Parallel Mechanism with the Closed-loop Limbs
	Hai-Rong Fang; Peng-Fei Liu; Hui Yang; Bing-Shan Jiang
刊名	International Journal of Automation and Computing
	2021
卷号	18 期号:4 页码:654-666
关键词	2T2R parallel mechanism close loop structure high stiffness kinematics analysis workspace
ISSN号	1476-8186
DOI	10.1007/s11633-021-1294-z
英文摘要	This paper presents a novel four degrees of freedom (DOF) parallel mechanism with the closed-loop limbs, which includes two translational (2T) DOF and two rotational (2R) DOF. By connecting the proposed parallel mechanism with the guide rail in series,the 5-DOF hybrid robot system is obtained, which can be applied for the composite material tape laying in aerospace industry. The analysis in this paper mainly focuses on the parallel module of the hybrid robot system. First, the freedom of the proposed parallel mechanism is calculated based on the screw theory. Then, according to the closed-loop vector equation, the inverse kinematics and Jacobian matrix of the parallel mechanism are carried out. Next, the workspace stiffness and dexterity analysis of the parallel mechanism are investigated based on the constraint equations, static stiffness matrix and Jacobian condition number. Finally, the correctness of the inverse kinematics and the high stiffness of the parallel mechanism are verified by the kinematics and stiffness simulation analysis, which lays a foundation for the automatic composite material tape laying.
内容类型	期刊论文
源URL	[http://ir.ia.ac.cn/handle/173211/45071]
专题	自动化研究所_学术期刊_International Journal of Automation and Computing
作者单位	School of Mechanical, Electronic and Control Engineering, Beijing Jiaotong University, Beijing 100044, China
推荐引用方式 GB/T 7714	Hai-Rong Fang,Peng-Fei Liu,Hui Yang,et al. Design and Analysis of a Novel 2T2R Parallel Mechanism with the Closed-loop Limbs[J]. International Journal of Automation and Computing,2021,18(4):654-666.
APA	Hai-Rong Fang,Peng-Fei Liu,Hui Yang,&Bing-Shan Jiang.(2021).Design and Analysis of a Novel 2T2R Parallel Mechanism with the Closed-loop Limbs.International Journal of Automation and Computing,18(4),654-666.
MLA	Hai-Rong Fang,et al."Design and Analysis of a Novel 2T2R Parallel Mechanism with the Closed-loop Limbs".International Journal of Automation and Computing 18.4(2021):654-666.