Kinematics analysis of a 3-DOF hydraulic driven parallel mechanism

2017 5th International Conference on Mechanical Engineering, Materials Science and Civil Engineering

机械制造;材料科学;土木建筑工程

Zhang, Bing^1 ; Li, Jiandong^1 ; Jiang, Ziliang^1 ; Wang, Cuntang^1 ; Zhang, Zhentao^2

School of Mechanical Engineering, Jiangsu University, No.301 Xuefu Road, Jingkou District, Zhenjiang, Jiangsu

212013, China^1

Zhuhai RULEBIT Intelligent Robot Technology Company, Nanping Science and Technology Park, No.9 Pinggong Road, Xiangzhou District, Zhuhai

519000, China^2

关键词: Co-ordinate transformation;    Co-simulations;    Dynamics analysis;    Hydraulic cylinders;    Kinematics analysis;    Mechanical design;    Parallel mechanisms;   

Others  :  https://iopscience.iop.org/article/10.1088/1757-899X/324/1/012048/pdf
DOI  :  10.1088/1757-899X/324/1/012048

来源: IOP

【 摘 要 】

In order to provide the basis about the selection of parts for the mechanical design of a 3-DOF parallel mechanism, such as hydraulic cylinders, valves and so on. Based on coordinate transformation and vector guidance method, the kinematics of the hydraulic drive 3-DOF parallel mechanism is analyzed at first. Secondly, deducing the displacement of each hydraulic cylinder according to the position of the upper platform on parallel mechanism. Then, The ADAMS is used to build virtual prototype of 3-DOF parallel mechanism, the validity about the kinematics of the parallel mechanism is verified by the co-simulation of MATLAB / SIMULINK and ADAMS, which provide the theoretical support for dynamics analysis.