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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 | |
发表期刊 | International Journal of Automation and Computing |
ISSN | 1476-8186 |
2021 | |
卷号 | 18期号:4页码:654-666 |
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. |
关键词 | 2T2R parallel mechanism close loop structure high stiffness kinematics analysis workspace |
DOI | 10.1007/s11633-021-1294-z |
引用统计 | |
文献类型 | 期刊论文 |
条目标识符 | http://ir.ia.ac.cn/handle/173211/45071 |
专题 | 学术期刊_Machine Intelligence Research |
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. |
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