The Study Of The Performance Of A Flexible Planar Two Degree Of Freedom Parallel Mechanism

A two degree of freedom(2-DOF)parallel mechanism is a common exercise system.Due to its high rigidity,high speed and simple path planning,this kind of mechanism has been widely used in some industrial fields.Especially in industries such as packaging and handling,where high-frequency picking and placing operations are required.With the 2-DOF parallel mechanism playing an increasingly important role in industrial applications,the significance of its related research becomes more and more important.In this paper,the performance of a flexible planar 2-DOF parallel mechanism driven by a timing belt is mainly studied,including kinematics and dynamics analysis.The mechanism provides two linear movements perpendicular to each other: the movement in the direction of the gantry(horizontal)and the movement along the slider rails(vertical)make it possible to locate the end of the actuator in-plane Flexible Drive System-Timing Belt Drive converts the motor torque to a linear drive force at the end of the motion mechanism.This article mainly from the following aspects of the agency conducted a study:(1)Based on the geometric characteristics of the institution,the kinematics equation of the institution is established.The position equation,velocity equation and acceleration equation are obtained,and then the relationship between the end of motion and the input is obtained.(2)Based on the basic theory of elasticity,the movement of flexible body is described.Combined with the principle of virtual displacement and the principle of Darumberl,a dynamic equation of free and flexible body is established,which lays the foundation for the analysis of rigid-flexible coupling model.Combined with the research status,the three alternative models of the timing belt are described,and the Kelvin model is finally selected as the approximate simplified model of the timing belt.(3)Based on the principle of flexible multi-body system dynamics and combining with the principle of virtual work,the dynamic equations of flexible plane two-degree-of-freedom parallel mechanism are deduced and the longitudinal vibration of the system is analyzed.Differential Equation of Vibration and Natural Frequency of Mechanism System.(4)The virtual prototyping model of physical prototype is established by RecurDyn software.The synchronous belt is discretized to simplify the rigid belt with flexible force.The kinematic simulation is carried out with the concrete example.Under the condition of given input,the displacement,speed and acceleration curve of the end are obtained.Under the given trajectory,the dynamic simulation analysis is carried out,and the angular velocity of the synchronous pulley The curve of driving force and the curve of tension between belt elements,the vibration of the timing belt during the movement of the mechanism was analyzed and various dynamic parameters were obtained.