Structure Characteristics and Kinematic Analysis of Redundant 6-DOF Parallel Mechanism

doi:10.3901/JME.2017.18.121

Abstract

Abstract: Geometric analytical model and kinematic model of test bench for bogie parameters(TBBP) are established. A hybrid strategy(HS) based on geometric analytical method and High-order convergent iteration method for the forward kinematics problem (FKP) of parallel mechanism is proposed. Set the pose value fast obtained by solving the equations built by geometric analytic method as the initial guess of high-order convergent iteration method. Taking the TBBP as an example, based on the theory of position and orientation characteristic(POC) set, the Topological structure characteristics of the redundant 6-DOF parallel mechanism was analyzed. Specific Ratio matrix is acquired by analyzing kinematic structure characteristics of this mechanism. According to Principle of displacement superposition, the initial guess of FKP is gained. This solution is next considered as an initial guess for high-order numerical technique and obtains the answer with a desired level of accuracy. Select circumferential trajectory as the mechanism's motion trail, simulation results shows that compared with given value, error value of the FKP computed by geometric analytic method is less than 0.8%. And comparing with Newton-Raphson(NR) method, iteration number of HS is reduced by 41%, iteration time is reduced by 23%. The real-time demand of the test is thus satisfied. Using the TBBP to test the Angular stiffness of rotation of bogie,test results show that compared with given value, the error of measurement value using the device is less than 0.041rad,however the error of computed value obtained by the proposed method is within 0.019rad.The effectiveness and real-time performance of the hybrid strategy is further verified.

Key words: forward kinematics, high-order iterative, linear decoupling, rail vehicle, redundant parallel mechanism

CLC Number:

TG156

WANG Qiming, SU Jian, ZHANG Yirui, LÜ Zhichao, LIN Huiying, XU Guan. Structure Characteristics and Kinematic Analysis of Redundant 6-DOF Parallel Mechanism[J]. Journal of Mechanical Engineering, 2017, 53(18): 121-130.

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