Research on 2-DOF parallel adjustment platform based on the four-bar tensegrity structure
To meet the demands for high precision,strong load-bearing,and dynamic performance in intelligent manufacturing and robotics,this paper introduces a novel two-degree-of-freedom parallel adjustment platform using a four-bar tensegrity structure.The design begins with creating a node matrix and trajectory rules to define the mechanism configuration,utilizing mobility constraints to achieve two-degree-of-freedom tilting and leveraging its self-balancing and self-stabilizing features.Kinematic analysis and singularity assessment are performed to study the input-output relationships and avoid instability due to singular points.Workspace calculations and simulations confirm the mechanism's performance and feasibility.A physical prototype is built,and tests show excellent compliance and self-balancing,with actual results closely matching theoretical predictions.This research provides a new theoretical and technical basis for optimizing and applying parallel mechanisms in practical scenarios,holding significant engineering value.
NETL
NSTL
万方数据
维普
