Kinematics and dynamics of a novel SCARA parallel mechanism actuated by prismatic pair

Geng Sun; Dong Liang; Boyan Chang; Yi Mao; Shukang Pang; Huizhou Jia

doi:10.1117/12.3030219

5 June 2024 Kinematics and dynamics of a novel SCARA parallel mechanism actuated by prismatic pair

Geng Sun, Dong Liang, Boyan Chang, Yi Mao, Shukang Pang, Huizhou Jia

Proceedings Volume 13163, Fourth International Conference on Mechanical, Electronics, and Electrical and Automation Control (METMS 2024); 131631Q (2024) https://doi.org/10.1117/12.3030219
Event: International Conference on Mechanical, Electronics, and Electrical and Automation Control (METMS 2024), 2024, Xi'an, China

Abstract

A novel SCARA parallel mechanism (PM) with high-speed operation and high load-bearing capacity is proposed for fast picking, palletizing, packaging and other high-speed and heavy-duty work in food, textile, pharmaceutical, logistics, and other industries. Conduct a systematic analysis of the topology, kinematics, and dynamics of this PM. Based on Lie group theory, the degree of freedom (DOF) of the PM is confirmed.; The closed-loop vector equation is constructed and the inverse solution is analyzed; Take the derivatives of the closed-loop equation, the velocities and accelerations equations can be obtained; Then, based on the principle of virtual work, the dynamic model of the PM is established, and an effective dynamic model is obtained through simulation experiments using ADAMS software.

(2024) Published by SPIE. Downloading of the abstract is permitted for personal use only.

Citation Download Citation

Geng Sun, Dong Liang, Boyan Chang, Yi Mao, Shukang Pang, and Huizhou Jia "Kinematics and dynamics of a novel SCARA parallel mechanism actuated by prismatic pair", Proc. SPIE 13163, Fourth International Conference on Mechanical, Electronics, and Electrical and Automation Control (METMS 2024), 131631Q (5 June 2024); https://doi.org/10.1117/12.3030219

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