Rigid and Flexible Dynamics Simulation of 2-PRR Parallel Mechanism

Abstract

After using three-dimensional software for the 2-PRR parallel mechanism modeled into ADAMS, and on one of the links in ANSYS is flexible processing of replacing the rigid rod. In ADAMS/View environment using kinematics and dynamics simulation for the 2-PRR parallel mechanism, verification of positive solution and inverse of the mechanism, and get the characteristic curves of driven torque changes of driven slider. The study concludes that parallel mechanism in engraving and milling machine tools and robots in plane design and selection provides a theoretical basis.

Kinematics Analysis of a 4PRR-P Hybrid Machining Mechanism

“…Zhang Dongsheng [2] constructed a new five-degreeof-freedom serial-parallel hybrid robot based on two moving-rotation three-degree-of-freedom planar parallel mechanisms, and planar parallel mechanism (2PRR) 2 +R with two different modes of motion redundancy and drive redundancy. (P stands for moving pair, R stands for rotating pair) for kinematics analysis; Wu Cuncun [3] proposes a new four-degree-of-freedom parallel mechanism that can realize three movements and one rotation -2PPPaR (Pa refers to generalized moving pair) parallel mechanism, the parallel The mechanism can be widely used in high-speed and high-precision sorting, packaging and palletizing operations; Chen Chun [4] performs kinematics and dynamic modal characteristics analysis and simulation on planar 2-PRR parallel mechanism; Wang Xinhui [5] uses isomorphic mapping and differential motion Based on the principle of learning, the optimal configuration and design sensitivity of 3-PRR full-flexible parallel mechanism are solved.…”