Research On A Three Translations And One Rotation Mechanism With A Planar 5R Branch

In this paper,a kind of hybrid mechanism with planar closed-loop structures were synthesized.Taking(5R)RR-(5R)Pa mechanism as the analysis object,this paper studied on the calculation of freedom of mechanism,workspace analysis,kinematic modeling and verification,and dynamic modeling and analysis.The main contents are as follow:The 2-DOF(degree of freedom)planar closed-loop structures,such as 5R mechanism and PRRRR mechanism,were obtained by type synthesis of planar closed-loop structures.With PRRPP structure as the motion configuration platform,a variety of three translations and one rotation four DOF hybrid mechanisms were built.Taking the(5R)RR-(5R)Pa mechanism as the research object,the kinematics analysis was carried out,and the forward and backward kinematics solutions of the mechanism were modeled using the closed-loop vector method.The velocity and acceleration of the mechanism were analyzed by mapping method.The dynamic model of(5R)RR-(5R)Pa mechanism was established according to the principle of virtual work.The working space of(5R)RR-(5R)Pa mechanism was obtained by Monte Carlo method according to the mathematical model of kinematics.The kinematics model was verified by the kinematics inverse solution model and the kinematics simulation in MATLAB and ADAMS.Through the example of dynamics,the force of driving linkages under the action of external force were analyzed.