Analysis of Kinematics and Simulation Research of a 5 DOF Parallel Mechanism
A new 5 degree of freedom parallel mechanism is proposed for the special case of 5 degrees of freedom， and its kinematics is analyzed. Using the spiral theory and the modified G-K formula， the degree of freedom of the parallel mechanism is verified， and the inverse kinematics of the mechanism is sol...
| Main Authors: | , , |
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| Format: | Article |
| Language: | zho |
| Published: |
Editorial Office of Journal of Mechanical Transmission
2019-02-01
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| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2019.02.016 |
| Summary: | A new 5 degree of freedom parallel mechanism is proposed for the special case of 5 degrees of freedom， and its kinematics is analyzed. Using the spiral theory and the modified G-K formula， the degree of freedom of the parallel mechanism is verified， and the inverse kinematics of the mechanism is solved by the closed loop vector method. The kinematics simulation of the mechanism is carried out based on the Matlab and Adams. The degree of freedom of the mechanism and the inverse kinematics curve obtained by Matlab and Adams are obtained. The correctness of the degree of freedom of the mechanism is verified by Adams simulation， and the correctness of the inverse solution of the mechanism is verified by comparing the inverse kinematics curves of Matlab and Adams. |
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| ISSN: | 1004-2539 |