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Technical gazette, Vol. 28 No. 1, 2021.

Preliminary communication

https://doi.org/10.17559/TV-20180719041030

Kinematics Analysis and Optimization of a Multi-Mode Mobile Parallel Mechanism

Chunyan Zhang* orcid id orcid.org/0000-0003-1390-4562 ; School of Mechanical and Automotive Engineering, Shanghai University of Engineering Science, P. R. China; Institution College of Mechanical Engineering, Donghua University, Shanghai, P. R. China; No. 333, Longteng Road, Songjiang District, Shanghai, P. R. China, 201620
Mingjuan Xie ; Engineering Technology Center, Huayu Automotive Body Components Technology (Shanghai) Co., Ltd., P. R. China; No. 303, Guoding Road, Yangpu District Shanghai, P. R. China, 200082
Dan Zhang orcid id orcid.org/0000-0002-7295-4837 ; College of Mechanical Engineering, Donghua University, Shanghai, P. R. China No. 2999, North Renmin Road, Songjiang District, Shanghai, P. R. China, 201620

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Abstract

This paper aims to disclose the kinematics and optimize the design of multi-mode mobile parallel mechanism. To this end, a multi-mode mobile parallel mechanism was designed based on single-loop planar 4R systems. The horizontally symmetric mechanism is controlled by two motors: the mechanism can switch freely among different modes of movements (e.g. sliding, turning and rolling) by changing the input angles of the two motors. Based on the mechanism structure, the author analysed the degrees of freedom (DOFs) and kinematics of each mode, and optimized the stability of the mechanism. The results show that the mechanism is more stable at a short rod length and small rotating angle, when its width is constant. Finally, the theoretical correctness of the mechanism was verified through simulation and prototype test. The research findings provide a valuable reference for similar studies on multi-mode mobile parallel mechanism, and lay the theoretical basis for the application of mobile robots in various fields.

Keywords

degrees of freedom (DOFs); kinematics analysis; mobile parallel mechanism; single-loop planar 4R system

Hrčak ID:

251769

URI

https://hrcak.srce.hr/251769

Publication date:

5.2.2021.

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