Analysis and Application of a 2-DOF Planar Parallel Mechanism
Analysis and Application of a 2-DOF Planar Parallel Mechanism
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DOI：
10.1115/1.2437800
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发表时间：
2007-04
影响因子：
3.3
通讯作者：
Jun Wu;Jinsong Wang;Tiemin Li;Liping Wang
中科院分区：
文献类型：
--
作者：
Jun Wu;Jinsong Wang;Tiemin Li;Liping Wang
本文研究了一种二自由度平面并联机构的运动学优化设计、动力学分析及其应用。在运动学优化设计阶段，对机构的奇异点和工作空间进行了研究，并通过最小化一个全局综合条件指标来获得机构的最优运动学参数。采用牛顿-欧拉法推导了逆动力学模型。动力学仿真表明，运动部件的惯性力是影响机构动态特性的重要因素。并联机构被纳入一个4自由度混合机床，其中还包括一个2自由度的并联机构，以证明其适用性。
This paper deals with the optimal kinematic design, dynamic analysis, and application of a 2 degree of freedom (2-DOF) planar parallel mechanism. In the optimal kinematic design phase, the singularities and workspace are investigated, and the optimal kinematic parameters of the mechanism are achieved by minimizing a global and comprehensive conditioning index. The Newton-Euler method is employed to derive the inverse dynamic model. Dynamic simulations show that the inertia force of moving parts is an important factor affecting the dynamic characteristics of the mechanism. The parallel mechanism is incorporated into a 4-DOF hybrid machine tool which also includes a 2-DOF worktable to demonstrate its applicability.