2011•Journal of Yanshan UniversityRequires access

Kinematics analysis of a novel asymmetric four-DOF parallel mechanism

Tian Yuan

Abstract

A novel over-constrained 2-UPU/2-URU parallel mechanism is proposed.First,its displacement kinematics is analyzed using a closed method,the numerical solutions are obtained and verified based on its analysis of the structural characteristics.Second,the boundary points under constraint conditions which influence its workspace are obtained,and its three-dimensional workspace is constructed using MATLAB software.Third,the rules that constraint the influence workspace are obtained,the characteristics of workspace distribution is demonstrated,and the singularity is analyzed.The studies of this parallel mechanism provide a basis for the optimization of workspace and the dimension design of this mechanism and a foundation for further study of this parallel mechanism.

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Key concepts: Workspace, Kinematics, Mechanism (biology), Singularity, Constraint (computer-aided design), Computer science, MATLAB, Displacement (psychology)