Open AccessKinematics Performance and Dynamics Analysis of a Novel Parallel Perfusion Manipulator with Passive Link
Author(s) -
Hui Yang,
Hairong Fang,
Yuefa Fang,
Haibo Qu
Publication year - 2018
Publication title -
mathematical problems in engineering
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.262
H-Index - 62
eISSN - 1026-7077
pISSN - 1024-123X
DOI - 10.1155/2018/6768947
Subject(s) - kinematics , jacobian matrix and determinant , workspace , parallel manipulator , inverse kinematics , correctness , control theory (sociology) , computer science , degrees of freedom (physics and chemistry) , forward kinematics , matrix (chemical analysis) , screw theory , mathematics , algorithm , physics , robot , artificial intelligence , materials science , classical mechanics , control (management) , quantum mechanics , composite material
In order to solve the problem of the honeycombs perfusion in the thermal protection system of the spacecraft, this paper presents a novel parallel perfusion manipulator with one translational and two rotational (1T2R) degrees of freedom (DOFs), which can be used to construct a 5-DOF hybrid perfusion system for the perfusion of the honeycombs. The proposed 3 P SS&PU parallel perfusion manipulator is mainly utilized as the main body of the hybrid perfusion system. The inverse kinematics and the Jacobian matrix of the proposed parallel manipulator are obtained. The analysis of kinematics performance for the proposed parallel manipulator including workspace, singularity, dexterity, and stiffness is conducted. Based on the virtual work principle and the link Jacobian matrix, the dynamic model of the parallel perfusion manipulator is carried out. With reference to dynamic equations, the relationship between the driving force and the mechanism parameters can be derived. In order to verify the correctness of the kinematics and dynamics model, the comparison of theoretical and simulation curves of the motion parameters related to the driving sliders is performed. Corresponding analyses illustrate that the proposed parallel perfusion possesses good kinematics performance and could satisfy the perfusion requirements of the honeycombs. The correctness of the established kinematics and dynamics models is proved, which has great significance for the experimental research of the perfusion system.