Dong Liang

This paper presents the design, analysis, dynamic dimensional synthesis, and prototype development of a novel 2-degree-of-freedom (2-DOF) parallel robot actuated by prismatic pairs. First, the proposed robot, designated as “TGU-SV2”, is introduced; it features prismatic actuation and spatial V-shaped passive limbs. This mechanism is designed to be modular, allowing integration with auxiliary modules to expand its DOFs. The forward and inverse kinematics, along with velocity and acceleration models, are derived to establish the Jacobian mapping relationships among the moving components. Based on these kinematic formulations, both simplified and exact rigid-body dynamic models are developed. The validity of these models is rigorously verified through co-simulations using SolidWorks and MATLAB/Simscape. Furthermore, three dynamic performance indices characterizing inertial forces, centrifugal/Coriolis forces, and gravitational terms are systematically formulated, subject to geometric and motion constraints. Monotonicity analysis and a genetic algorithm are then employed to determine the optimal dimensional parameters. Finally, a physical prototype is fabricated based on the optimized design, and preliminary performance tests are conducted. The test results show that the prototype can basically complete trajectory tracking, demonstrating its potential for applications in logistics sorting and industrial production, as well as laying a foundation for more refined prototype control in subsequent research.

Three degree of freedom (DOF) parallel mechanisms (PM) are widely used in light industry, medical industry, agriculture, aerospace and other fields because of their excellent motion performance and cost performance. A novel 3-DOF PM with parallelogram closed-loop chain linkages is proposed to meet the demands of special working environments, and its mathematic models of kinematics and dynamics are obtained. Based on the topology of this PM, the kinematics is analyzed by using the closed-loop vector and derivation method, and the relation of positions, velocities and accelerations between inputs and components can be expressed. On this basis, utilizing the principle of virtual work, dynamic model is established, which lays the theoretical basis for PD computed torque control (CTC). Based on the law of CTC and the virtual prototype, the multi-body simulation experiment is carried out, which proves the correctness of the theory, and provides the foundation for practical application.