{"title":"三自由度2-PUR-PRPR并联机构的工作空间分析","authors":"Fei Dong, Yong-xiu Xu, Yan Wang","doi":"10.1145/3366194.3366231","DOIUrl":null,"url":null,"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.","PeriodicalId":105852,"journal":{"name":"Proceedings of the 2019 International Conference on Robotics, Intelligent Control and Artificial Intelligence","volume":null,"pages":null},"PeriodicalIF":0.0000,"publicationDate":"2019-09-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"Workspace Analysis of a Three-Degree-of-Freedom 2-PUR-PRPR Parallel Mechanism\",\"authors\":\"Fei Dong, Yong-xiu Xu, Yan Wang\",\"doi\":\"10.1145/3366194.3366231\",\"DOIUrl\":null,\"url\":null,\"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.\",\"PeriodicalId\":105852,\"journal\":{\"name\":\"Proceedings of the 2019 International Conference on Robotics, Intelligent Control and Artificial Intelligence\",\"volume\":null,\"pages\":null},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2019-09-20\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Proceedings of the 2019 International Conference on Robotics, Intelligent Control and Artificial Intelligence\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1145/3366194.3366231\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Proceedings of the 2019 International Conference on Robotics, Intelligent Control and Artificial Intelligence","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1145/3366194.3366231","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Workspace Analysis of a Three-Degree-of-Freedom 2-PUR-PRPR Parallel Mechanism
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.