A 2R1T parallel mechanism with closed branches was designed,which consists of a fixed platform,a moving platform,two RPS branches,and one(S+SPR)S closed branch.The 2R1T parallel mechanism has three degrees of freedom,including two transfer and one movement degree of freedom.Set three moving pairs as driving pairs to control the position and attitude of the moving plat-form,each driven by a servo motor.Apply SolidWorks to establish a 3D model of the 2R1T parallel mechanism,and further optimize the model in SolidWorks to achieve transition from theoretical motion model to physical model.The forward position solution of the parallel mechanism is obtained by numeri-cal method using Particle swarm optimization algorithm.Use Adams software to output the motion line diagram of the moving platform's center of mass,and judge the rationality of the mechanism's Kinemat-ics according to the motion line diagram.
万方数据
维普
