Abstract
In response to the increasing demand for low-DOF parallel mechanisms in industry, this paper proposes a new 2TPT-2RPR parallel mechanism, which has three degrees of freedom (one rotation, two translation). In this paper, helix theory is used to verify the degree of freedom of the parallel mechanism, and the kinematics of the parallel mechanism is studied. The positive and inverse solutions of the position of the 2TPT-2RPR parallel mechanism are analyzed, and the theoretical results are verified by numerical examples. At the same time, the velocity and acceleration characteristics of the parallel mechanism are analyzed and deduced, and the velocity and acceleration are simulated by core5.0.
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Acknowledgement
This work was supported partly by the National Natural Science Foundation of China (51775052), and the Natural Science Basic Research Program of Shaanxi (2019JM-181).
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Chao, Y., Duanling, L., Pu, J. (2020). Kinematics Analysis of a New Spatial 3-DOF Parallel Mechanism. In: Chan, C.S., et al. Intelligent Robotics and Applications. ICIRA 2020. Lecture Notes in Computer Science(), vol 12595. Springer, Cham. https://doi.org/10.1007/978-3-030-66645-3_29
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DOI: https://doi.org/10.1007/978-3-030-66645-3_29
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