| Citation: | FANG Hairong, LI Zhuangzhuang. Design and analysis of a new large rotation angle 2T2R parallel mechanism[J]. Journal of Beijing University of Aeronautics and Astronautics, 2020, 46(3): 465-473. doi: 10.13700/j.bh.1001-5965.2019.0217(in Chinese)
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In order to meet the requirements of large and slender structural components, a new type of 5-DOF hybrid robot is proposed, and the new large rotation angle 2T2R parallel mechanism module in the robot is analyzed and studied. Firstly, the degrees of freedom of 2-UPS & (2-RPR)R parallel mechanism are calculated by using the screw theory, and the modified G-K formula is used for verification. Secondly, the closed vector equation is used to analyze the kinematics of the mechanism, the forword kinematics model and inverse kinematics model are established and the Jacobian matrix is calculated. Then, the workspace of the mechanism is plotted with the constraint conditions of the mechanism. Then, the dexterity of the mechanism is analyzed with linear velocity isotropic index and angular velocity isotropic index. Finally, the kinematic simulation is carried out by the given trajectory. Through analysis, the feasibility and practical value of the mechanism are verified, which lays a foundation for the application of the new 5-DOF hybrid robot.
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