Jixie chuandong (Nov 2020)
Kinematics Analysis of 3T1R 4-PRP<sub>a</sub>U Parallel Mechanism
Abstract
A parallel mechanism with symmetrical 3TIR （4-PRPaU） is presented. In accordance with the condition of rod length， the model of positional forward solution is established， then it is transformed into an unconstrained optimization problem and solved by differential evolution algorithm. The analytical expression of the inverse solution of mechanism position is derived and the correctness of the forward displacement of mechanism position is verified by using the inverse solution of mechanism position. The vector method is applied to derive the expressions of mechanism velocity and acceleration to give the mechanism scale parameters and number imitation is conducted with Matlab. At the same time， the Adams is used for kinematics simulation. The results show that the Adams motion simulation curve is consistent with the Matlab numerical simulation curve， which verifies the correctness of the theoretical derivation.
