Design and Analysis of Novel High Performance Plane Trajectory Guidance Mechanisms

doi:10.3901/JME.2019.05.045

Abstract

Abstract: A new mechanism design method for planar trajectory guidance is proposed. One chain of this mechanism is a serial mechanism, and the other is a controllable five-bar mechanism. Through the coordinated motion of two branches,the force and speed on both sides of the branched chain are consistent in the motion of end effector. This design overcomes the shortcomings of the limited precision of the series mechanism, and simultaneously realizes the accurate guidance of the trajectory through the controllable five bar mechanism. A series of guiding mechanism is synthesized based on the screw theory. The kinematics and performance analysis of the guiding mechanism are analyzed. The static stiffness of the mechanism is analyzed based on the velocity Jacobian matrix, and compared with the serial mechanism. Taking the grinding U-type trough of high speed bogie as an example, the design analysis, and trajectory planning studies of the mechanism are carried out. The simulation results verify correctness of the proposed design method.

Key words: guidance mechanism, kinematics analysis, performance analysis, trajectory

CLC Number:

TG156

GUO Sheng, MIAO Yuting, QU Haibo, ZHAO Fuqun. Design and Analysis of Novel High Performance Plane Trajectory Guidance Mechanisms[J]. Journal of Mechanical Engineering, 2019, 55(5): 45-52.

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