2013•Modular Machine Tool & Automatic Manufacturing TechniqueRequires access

Kinematics and Dynamic Simulation of Planar 2-DOF Parallel Mechanism Based on SimMechanics

Jinliang Gong

Abstract

In order to do modeling and simulation for mechanism,a rapid and efficient computer aided analysis method in the MATLAB SimMechanics module is presented.This method is used for analysis of the kinematics and dynamics model of a 2-PPr plane tw o degree of freedom parallel mechanism in this paper.The simulation results show ed that the structure has good movement characteristics and high stiffness.Even in tw o driven asynchronous input cases,it w on't appear locked phenomenon.If tw o driver input rule is given in SimMechanics module,the speed、acceleration and output force of the end-effector can be solved quickly,the reliable theoretical basis is also provided for the follow ing kinematics control.This method only needs to establish rigid body model of the mechanism,can greatly improve the analysis efficiency,and has the characteristics of intuitionistic and pow erful.

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Key concepts: Kinematics, Mechanism (biology), Computer science, MATLAB, Acceleration, Stiffness, Asynchronous communication, Control theory (sociology)