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Volume 43 Issue 10
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Journal of Beijing University of Aeronautics and Astronautics  > 2017  >  43(10): 2011-2020.
LI Dian, GUO Sheng, HUANG Guanyu, et al. Kinematic analysis and workspace optimization of a novel 2-2PRUR parallel mechanism[J]. Journal of Beijing University of Aeronautics and Astronautics, 2017, 43(10): 2011-2020. doi: 10.13700/j.bh.1001-5965.2016.0816(in Chinese)
Citation: LI Dian, GUO Sheng, HUANG Guanyu, et al. Kinematic analysis and workspace optimization of a novel 2-2PRUR parallel mechanism[J]. Journal of Beijing University of Aeronautics and Astronautics, 2017, 43(10): 2011-2020. doi: 10.13700/j.bh.1001-5965.2016.0816(in Chinese)
shu

Kinematic analysis and workspace optimization of a novel 2-2PRUR parallel mechanism

doi: 10.13700/j.bh.1001-5965.2016.0816

  • Robotics Institute, School of Mechanical, Electronic and Control Engineering, Beijing Jiaotong University, Beijing 100044, China

Funds:

National Natural Science Foundation of China 51475035

More Information
  • Corresponding author: GUO Sheng, E-mail: shguo@bjtu.edu.cn
  • Received Date: 19 Oct 2016
  • Accepted Date: 16 Dec 2016
  • Publish Date: 20 Oct 2017
    Abstract

  • A novel 2-2PRUR parallel mechanism is proposed to fit the actual demand of industrial production line. Kinematics analysis and workspace optimization are performed based on scatter plot. A method is presented by splitting the moving platform into two parts and adding planetary gear train, which could solve the over-constraints of four degrees of freedom parallel mechanism and increase the turning angle. The constraint equations are obtained using the coordinate method. The inverse-forward solutions of the mechanism are worked out. And the workspace is obtained by using the scatter plot of inverse kinematic solutions. Meanwhile, reasonable structural parameters are obtained by optimizing workspace with the principle of maximizing scattered points based on genetic algorithm. This work would lay the foundation for the future research and application of this type of parallel mechanism.

     

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