Journal of Guangdong University of Technology ›› 2018, Vol. 35 ›› Issue (06): 24-30.doi: 10.12052/gdutxb.180081

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Dynamic Modeling and Analysis of 3-DOF Spheroid Parallel Mechanism

Zhang Guo-ying1, Jiang Hao1, Zhang Tao1, Xiao Cai1, Liu Guan-feng1, Xiao Xiao-lan1, Luo Shao-ming2   

  1. 1. School of Electromechanical Engineering, Guangdong University of Technology, Guangzhou 510006, China;
    2. School of Electromechanical Engineering, Zhongkai University of Agriculture and Engineering, Guangzhou 510225, China
  • Received:2018-05-22 Online:2018-11-23 Published:2018-11-05

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Abstract: A three-degree-of-freedom (2R1T,R denotes rotation, T denotes translation) spheroid parallel mechanism that can be applied in the field of electronic assembly is proposed. The mechanism is composed of two equal-radius moving platform and base which are connected by three identical RSR (R denotes rotational pair, S denotes spherical pair) branches. The moving platform and the base are always symmetrical about a middle plane during the movement, and the moving platform can rotate around any lines within the plane of symmetry and translate along the center line of the two platforms. Based on the special geometric symmetry of the mechanism, its equivalent kinematics model was established. Then the dynamic model of the mechanism was established by using the Lagrange method. Through specific motion examples, the dynamics were validated using Mathematica calculations and ADAMS (Automatic Dynamic Analysis of Mechanical Systems) simulations. The correctness and validity of the learning model provide theoretical guidance for further research on the dynamic characteristics of the mechanism and system motion control.

Key words: parallel mechanism, Lagrange method, dynamic

CLC Number: 

  • TH112
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