Researching on General Modeling Method for a Class of Spoke Inclined Parallel Mechanism

ABSTRACT

With the deepening of researching on parallel mechanism, a variety of parallel mechanism and corresponding modeling method are presented, but these methods are not universal. So this paper deals with a class of spoke inclined parallel mechanism as the object, trying to get the general modeling method of kinematics and dynamics, which will provide convenient on this kind of parallel mechanism. Kinematics model with inverse selection criteria is established using geometric method, dynamics model is established by Lagrange method, then the mapping relationship between inputoutput displacement and driving force of the parallel mechanism are presented; Set 45° angle as an example, the prototype of spoke inclined parallel mechanism is developed based on dSPACE real-time simulation system, the validation experiments and rotation performance test experiments are done using the methods combining the theoretical modeling and experimental validation. The experimental results show that the mathematical model is correct, the parallel mechanism has the advantage of low inertia and large angle, the maximum angle of the prototype can reach 51.4°. The parallel mechanism in this paper can be used for automobile coating and manufacturing, and the research will lay the foundation for further application in mechanical industry.

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