Analysis and Simulation of Kinematical Performances of Two Kinds of Parallel Mechanisms Based on the Plane Sprayer

• 来源期刊: 国际设备工程与管理：英文版
• 学科: 工学
• 关键词: 机构运动学 并联机构 喷雾器 平面式 性能分析 仿真 Matlab 逆运动学解
• 年，卷（期）: 2011,（4）
• 页码范围: 237-242
• 页数: 6页
• 分类号: TP242.2|TH112
• 语种: 英文

摘要

Two kinds of 2-dof parallel mechanisms are proposed in this paper which can be used as the actuator for the plane sprayer. The direct and inverse kinematics solutions of the two kinds of mechanisms are derived on the end operating point and two workspaces are analyzed and compared. The kinematics models of the end operating point of two mechanisms are simulated by Matlab examples obtaining variation of kinematics parameters of these two mechanisms. The research of this paper provides the basis for the selection of mechanism, trajectory planning of the end operating point on the sprayer and often some practical value for trajectory analysis and structure design of the plane sprayer.