Analysis and Application of a 2-DOF Planar Parallel Mechanism

[+] Author and Article Information
Jun Wu

Department of Precision Instruments, Tsinghua University, Beijing 100084, Chinawu-j03@mails.tsinghua.edu.cn

Jinsong Wang, Tiemin Li, Liping Wang

Department of Precision Instruments, Tsinghua University, Beijing 100084, China

J. Mech. Des 129(4), 434-437 (May 08, 2006) (4 pages) doi:10.1115/1.2437800 History: Received March 28, 2005; Revised May 08, 2006

This paper deals with the optimal kinematic design, dynamic analysis, and application of a 2 degree of freedom (2-DOF) planar parallel mechanism. In the optimal kinematic design phase, the singularities and workspace are investigated, and the optimal kinematic parameters of the mechanism are achieved by minimizing a global and comprehensive conditioning index. The Newton–Euler method is employed to derive the inverse dynamic model. Dynamic simulations show that the inertia force of moving parts is an important factor affecting the dynamic characteristics of the mechanism. The parallel mechanism is incorporated into a 4-DOF hybrid machine tool which also includes a 2-DOF worktable to demonstrate its applicability.

Copyright © 2007 by American Society of Mechanical Engineers
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Figure 1

The kinematic model

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Figure 2

The task workspace

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Figure 3

The prototype of XNZD755

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Figure 4

The driving forces of motors when Vmax=0.4m∕s and Tf=3s

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Figure 5

The machining test



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