Workspace Analysis of a Three-Degree-of-Freedom 2-PUR-PRPR Parallel Mechanism

Proceedings of the 2019 International Conference on Robotics, Intelligent Control and Artificial Intelligence Pub Date : 2019-09-20 DOI:10.1145/3366194.3366231

Fei Dong, Yong-xiu Xu, Yan Wang

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Abstract

This paper studies the workspace of a 2-PUR-PRPR parallel mechanism with 3 degrees of freedom. According to the design, the SolidWorks three-dimensional modeling software is used to model the workspace. The three-dimensional model is calculated by screw theory. The relative fixed platform of the mechanism has two degrees of freedom of movement and one degree of freedom of rotation. According to this mechanism, the moving platform has two degrees of freedom and one degree of freedom of rotation. The closed-loop vector equation is established to obtain the inverse analytical solution of the mechanism. On the basis of the inverse analytical solution, the working space of the mechanism is obtained by the spatial geometric analytical method. The analysis results show that the mechanism has the advantages of large travel range, large turning angle range of the moving platform and simple control. The research and development of large stroke and large rotation mechanism lays a certain theoretical foundation.

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三自由度2-PUR-PRPR并联机构的工作空间分析

研究了三自由度2-PUR-PRPR并联机构的工作空间。根据设计，利用SolidWorks三维建模软件对工作空间进行建模。采用螺旋理论计算三维模型。该机构的相对固定平台具有两个运动自由度和一个旋转自由度。根据该机构，运动平台具有两个自由度和一个旋转自由度。建立了闭环矢量方程，得到了机构的反解析解。在反解析解的基础上，采用空间几何解析方法得到机构的工作空间。分析结果表明，该机构具有行程范围大、移动平台转角范围大、控制简单等优点。大行程大回转机构的研究与开发奠定了一定的理论基础。

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Proceedings of the 2019 International Conference on Robotics, Intelligent Control and Artificial Intelligence

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