Abstract
In this paper, we take a novel two-translation parallel mechanism based on variable length parallelogram structure as the research object, and carry out the research on the dynamic characteristics of the mechanism. Based on the principle of virtual work, the dynamic model of the new two-translation parallel mechanism is established. By numerically solving the dynamic model, the dynamic behavior of the new mechanism with impact characteristics is found, which provides a theoretical basis for optimizing this new mechanism.
Highlights
In industry, in order to complete the handling and picking and placing of workpieces, only two translational degrees of freedom are required to meet the work requirements [1,2,3]
Kim proposed a new type of two-translation parallel mechanism composed of two groups of PPa structures (P: moving pair, Pa: parallelogram closed-loop sub-chain) [2]
This paper proposes a new two-translation parallel mechanism based on a variable-length parallelogram structure, as shown in Fig. 1(a), and takes the new structure as the research object to carry out the dynamic analysis of the mechanism, and demonstrate the feasibility of the mechanism
Summary
In order to complete the handling and picking and placing of workpieces, only two translational degrees of freedom are required to meet the work requirements [1,2,3]. Liu proposed a planar two-degree-of-freedom parallel mechanism with a constant direction [1], in which each branch chain contains a planar four-bar mechanism. Professor Huang Tian of Tianjin University used the properties of the parallelogram structure to propose a fully articulated parallel mechanism called Diamond with two translational degrees of freedom. It is a two-dimensional form of the Delta mechanism. The mechanism is comparable to the single-axis feed mechanism and can be connected in series to form a hybrid mechanism with three translational degrees of freedom [4]. This paper proposes a new two-translation parallel mechanism based on a variable-length parallelogram structure, as shown in Fig. 1(a), and takes the new structure as the research object to carry out the dynamic analysis of the mechanism, and demonstrate the feasibility of the mechanism
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