Design and Kinetic Study of a Class of Parallel Mechanisms with Three Degrees of Freedom
Z. H. Zhang†*, C. Makowski‡
†Mechanical Engineering department, Tianjin Vocational College of Mechanics and Electricity, Tianjin, 300350, China,
‡Department of Geosciences, Florida Atlantic University, Boca Raton, FL 33431, U.S.A.
ABSTRACT: Parallel mechanism has the advantages of great rigidity, high precision, strong load capacity, etc, combining with the needs of People’s daily production, limited-DOF parallel mechanism, with the advantages of simple structure, convenient production and installation and easy drive control, has become the focus that people concerned. This paper, focusing on the design of parallel mechanism with 3 degrees of freedom (DOF), has carried out researches on degree of freedom analysis, kinematics analysis and simulation platform design. Firstly, the structure of 3-PSP parallel mechanism and the specific distribution of degree of freedom have been analyzed, and then the closed vector loop method and transformation matrix are used to get the inverse solution and positive solution of inverse solution of kinematics and positive solutions are obtained kinematics and positive solutions are obtained, finally, three-dimensional simulation software is used to verify the expected result. It turns out that the simulation results and expected results are the same, providing guidance for subsequent experimental study.
Keywords : Parallel mechanism; DOF analysis; Simulation analysis.
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