Jixie chuandong (Jan 2016)
Configuration Reconfigurable Design and Experimental Study of Controllable 5R Planar Parallel Mechanism
Abstract
Abstract Taking the controllable 5R planar parallel mechanisms（ PPM） as the study object,combining its engineering application,the kinematic model is established,and the full-information parameter modeling method of configuration transformation and movement characteristic analysis integration is proposed.Based on the bottom-up configuration design method,the model of bar-pair,kinematic sub-chain,main configuration are established. Through the variable drive layout,parameters configuration mode,the new configuration is transformed,the purpose of rapid reconstruction design of configuration and the simplified kinematics solution is achieved. The contrastive analysis of the output trajectory tracking before and after the drive layout configuration transformation is carried out,the result shows that the workspace is expanded. Through designing the experiment device,the effectiveness of solving the workspace by trajectory tracking method is verified.
