Abstract
In this paper, a multi-mode mobile parallel mechanism with over-constrained branches is designed to explore the influence of over-constrained branches on the stability of the mechanism in motion, and the mechanism motion and the realization of each mode are verified by motion simulation and physical production. Firstly, the schematic diagram is designed, and the mechanism configuration is designed according to it. A multi-mode mobile parallel mechanism with constrained branches is obtained, and its over-constrained branches are judged; The linkage group equivalent method is used to analyze the degrees of freedom of each mode of the mechanism; Kinematic analysis of the mechanism is carried out to solve the position coordinates of each point; Compare and analyze the branch chain of the mechanism with or without over-constraint, solve the centroid coordinates according to the ZMP theory, and use MATLAB to draw and compare the centroid of the mechanism at the time of movement.
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Xia, Y., Zhang, C., Yu, X. (2023). Design and Kinematic Analysis of a Mobile Parallel Mechanism with Over Constrained Branch Chains. In: Yang, H., et al. Intelligent Robotics and Applications. ICIRA 2023. Lecture Notes in Computer Science(), vol 14269. Springer, Singapore. https://doi.org/10.1007/978-981-99-6489-5_36
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DOI: https://doi.org/10.1007/978-981-99-6489-5_36
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