• CN:11-2187/TH
  • ISSN:0577-6686

机械工程学报 ›› 2017, Vol. 53 ›› Issue (9): 30-37.doi: 10.3901/JME.2017.09.030

• • 上一篇    下一篇


赵福群, 郭盛, 曲海波   

  1. 北京交通大学机械与电子控制工程学院 北京 100044
  • 出版日期:2017-05-05 发布日期:2017-05-05
  • 作者简介:





  • 基金资助:
    * 国家自然科学基金资助项目(51475035, 51505023); 20160822收到初稿,20170104收到修改稿;

Novel High Stiffness Redundant Parallel Mechanism with Closed-loop Units

ZHAO Fuqun, GUO Sheng, QU Haibo   

  1. School of Mechanical, Electronic and Control Engineering, Beijing Jiaotong University, Beijing 100044
  • Online:2017-05-05 Published:2017-05-05



关键词: 闭环结构, 轨迹规划, 性能分析, 运动学分析, 并联机构


:A novel 3-5RS parallel mechanism which has five-bar close-loop structure links is proposed due to its simple structure and easy solution. Closed-vector-circle method is used to solve the forward and inverse kinematic solution of the mechanism. Speed and acceleration of input and output equation are deduced by link constraint equation derivation. The workspace of the parallel mechanism in a general configuration is given. Stiffness performance is analyzed based on Jacobian matrix. Compared with 3-RRS parallel mechanism, the results show that the stiffness performance of the mechanism is improved obviously. The trajectory planning of continuous linear processing tasks in industrial production is carried out, the simulation results verify the theoretical calculation and model establishment are correct and the ability of the mechanism to implement motion.

Key words: closed-loop structure, kinematics analysis, performance analysis, trajectory planning, parallel mechanism