Dynamics Modeling and Analysis of a 5-DOF Parallel Manipulator Arm with Closed Loop Branch Chain
A double closed loop 5-DOF manipulator arm is proposed， which adds a closed loop structure on the basis of（（2-UPS）+U）PU configuration to obtain a new topology configuration 2-UPS+（（2-UPS）+U）PU. The introduction of the closed loop structure enables the mechanism to obtain a higher carrying capacity a...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | zho |
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Editorial Office of Journal of Mechanical Transmission
2020-07-01
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| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2020.07.012 |
| _version_ | 1826881640730722304 |
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| author | Zhang Dianfan Zhang Xingchao Yu Jin Dai Shijie Zhang Shijun |
| author_facet | Zhang Dianfan Zhang Xingchao Yu Jin Dai Shijie Zhang Shijun |
| author_sort | Zhang Dianfan |
| collection | DOAJ |
| description | A double closed loop 5-DOF manipulator arm is proposed， which adds a closed loop structure on the basis of（（2-UPS）+U）PU configuration to obtain a new topology configuration 2-UPS+（（2-UPS）+U）PU. The introduction of the closed loop structure enables the mechanism to obtain a higher carrying capacity and provides a new idea for the new topology configuration. The mapping of the velocity of the branch drive，the velocity of the swing angle of the branch and the generalized velocity <italic>V</italic><italic><sub>o</sub></italic> of the moving platform is derived. The decoupling matrix between the independent variable <inline-formula><alternatives><math xmlns:mml="http://www.w3.org/1998/Math/MathML" id="M2"><mover accent="true"><mi mathvariant="bold-italic">q</mi><mo>˙</mo></mover></math><graphic specific-use="big" xmlns:xlink="http://www.w3.org/1999/xlink" xlink:href="alternativeImage/255554B9-04EA-4867-B1D7-3477EC5039C3-M002.jpg"><?fx-imagestate width="1.77800000" height="3.47133350"?></graphic><graphic specific-use="small" xmlns:xlink="http://www.w3.org/1999/xlink" xlink:href="alternativeImage/255554B9-04EA-4867-B1D7-3477EC5039C3-M002c.jpg"><?fx-imagestate width="1.77800000" height="3.47133350"?></graphic></alternatives></inline-formula> of the mechanism and the generalized velocity <italic>V</italic><italic><sub>o</sub></italic> of the moving platform is established. The mapping between the velocity of the center of mass of the swing bar，the expansion bar and the generalized velocity <italic>V</italic><italic><sub>o</sub> </italic>of the moving platform in the branch chain of the mechanism is established. Based on the principle of virtual work，the dynamics model of the mechanism is established and transformed into a dynamics model with Lagrange dynamic form. The virtual prototype model of the mechanism is established in Adams simulation software，and the correctness of the derived dynamics model is verified by simulation. |
| first_indexed | 2024-03-13T09:16:45Z |
| format | Article |
| id | doaj.art-fceda02cba374179a3437517454ce9c7 |
| institution | Directory Open Access Journal |
| issn | 1004-2539 |
| language | zho |
| last_indexed | 2025-02-17T02:48:47Z |
| publishDate | 2020-07-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj.art-fceda02cba374179a3437517454ce9c72025-01-10T14:45:21ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392020-07-0144718031444883Dynamics Modeling and Analysis of a 5-DOF Parallel Manipulator Arm with Closed Loop Branch ChainZhang DianfanZhang XingchaoYu JinDai ShijieZhang ShijunA double closed loop 5-DOF manipulator arm is proposed， which adds a closed loop structure on the basis of（（2-UPS）+U）PU configuration to obtain a new topology configuration 2-UPS+（（2-UPS）+U）PU. The introduction of the closed loop structure enables the mechanism to obtain a higher carrying capacity and provides a new idea for the new topology configuration. The mapping of the velocity of the branch drive，the velocity of the swing angle of the branch and the generalized velocity <italic>V</italic><italic><sub>o</sub></italic> of the moving platform is derived. The decoupling matrix between the independent variable <inline-formula><alternatives><math xmlns:mml="http://www.w3.org/1998/Math/MathML" id="M2"><mover accent="true"><mi mathvariant="bold-italic">q</mi><mo>˙</mo></mover></math><graphic specific-use="big" xmlns:xlink="http://www.w3.org/1999/xlink" xlink:href="alternativeImage/255554B9-04EA-4867-B1D7-3477EC5039C3-M002.jpg"><?fx-imagestate width="1.77800000" height="3.47133350"?></graphic><graphic specific-use="small" xmlns:xlink="http://www.w3.org/1999/xlink" xlink:href="alternativeImage/255554B9-04EA-4867-B1D7-3477EC5039C3-M002c.jpg"><?fx-imagestate width="1.77800000" height="3.47133350"?></graphic></alternatives></inline-formula> of the mechanism and the generalized velocity <italic>V</italic><italic><sub>o</sub></italic> of the moving platform is established. The mapping between the velocity of the center of mass of the swing bar，the expansion bar and the generalized velocity <italic>V</italic><italic><sub>o</sub> </italic>of the moving platform in the branch chain of the mechanism is established. Based on the principle of virtual work，the dynamics model of the mechanism is established and transformed into a dynamics model with Lagrange dynamic form. The virtual prototype model of the mechanism is established in Adams simulation software，and the correctness of the derived dynamics model is verified by simulation.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2020.07.012Manipulator armParallel mechanismDynamics modelingLagrange equation |
| spellingShingle | Zhang Dianfan Zhang Xingchao Yu Jin Dai Shijie Zhang Shijun Dynamics Modeling and Analysis of a 5-DOF Parallel Manipulator Arm with Closed Loop Branch Chain Jixie chuandong Manipulator arm Parallel mechanism Dynamics modeling Lagrange equation |
| title | Dynamics Modeling and Analysis of a 5-DOF Parallel Manipulator Arm with Closed Loop Branch Chain |
| title_full | Dynamics Modeling and Analysis of a 5-DOF Parallel Manipulator Arm with Closed Loop Branch Chain |
| title_fullStr | Dynamics Modeling and Analysis of a 5-DOF Parallel Manipulator Arm with Closed Loop Branch Chain |
| title_full_unstemmed | Dynamics Modeling and Analysis of a 5-DOF Parallel Manipulator Arm with Closed Loop Branch Chain |
| title_short | Dynamics Modeling and Analysis of a 5-DOF Parallel Manipulator Arm with Closed Loop Branch Chain |
| title_sort | dynamics modeling and analysis of a 5 dof parallel manipulator arm with closed loop branch chain |
| topic | Manipulator arm Parallel mechanism Dynamics modeling Lagrange equation |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2020.07.012 |
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