Design and kinematics analysis of double-drive parallel manipulator
In this article,a new 5-DoF double-drive parallel manipulator is proposed and the kinematics analysis is carried out.Firstly,according to the configuration characteristics of the double-drive parallel mechanism,the adjoint motion analysis is carried out and the inverse position solution is calculated.Secondly,efforts are made to explore the mapping between the linear velocity component and the driving velocity of a group of points on the moving platform,and the 5×5 homogeneous dimensional Ja-cobian matrix is worked out.The mechanism's reachable workspace is calculated by means of the discrete method.Based on the flexibility index(i.e.the distribution of the condition number's reciprocal in the reachable workspace),the allowable workspace position is finally determined.Thirdly,by analyzing both the distribution of the maximum pressure angle in allowable workspace and the mapping between the driving force and the force exerted on the mechanism end,the parallel manipulator is subject to the singularity analysis.Finally,the MATLAB and ADAMS software is used for the kinematics simulation.This study provides theo-retical basis for the optimal design of prototypes for future generations.
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