Kinematics analysis and simulation of 2-CRS-S' parallel mechanism
DOI:
https://doi.org/10.54097/jceim.v10i1.5768Keywords:
Parallel mechanism, Theory of D-H analysis, Particle swarm optimizationAbstract
A 2-CRS-S ' parallel mechanism is proposed in this paper. The parallel mechanism consists of a static platform, two identical driving branches, a moving platform and a fixed branch, with two rotational degrees of freedom on the X and Y axes. Taking the driving branch chain in the mechanism as the research object, the inverse kinematics analysis of the parallel mechanism is carried out by using the D-H analysis method, and on this basis, the forward kinematics analysis of the structure is carried out by combining the particle swarm optimization algorithm. Finally, the Adams software is used to simulate and analyze the mechanism, and the motion angle curve of the moving platform of the mechanism is obtained, which verifies the correctness of the theoretical analysis. The obtained motion angle curves show regular periodic changes, and the curves have no breakpoints and mutations, indicating that the mechanism runs smoothly during the movement and has good kinematic performance.
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