Forward and Inverse Solution Analysis of V-2RPa⊥R⊕2RSS Parallel Mechanism Based on Cartesian Coordinate Method
A kinematics model of V-2RPa⊥R⊕2RSS parallel mechanism based on the SOC(Single_Open_Chain)with three transla-tions and one rotation is proposed.The position of the mechanism is numerically solved using the cartesian coordinate method.Verification of the correctness of both forward and inverse solutions is provided,along with their derivation.Compared with I4 and Cross-IV,the V-2RPa⊥R⊕2RSS robot has advantages such as simple structure,which lays the foundation for subsequent kinematic scale synthesis,proto-type design,and dynamic characteristic research.
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万方数据
维普
