Kinematics Analysis And Configurations Of Spread Band Drive Parallel Mechanism

The spread band drive parallel mechansim appeared in 1980's is a new type of parallel mechanism. It is replaced contraditonal mechanism by spread band element in parallel mechanism. This kind of mechanism has advantages of compact structure and larger workspace comparatively, and it is not only bear pulling force, but also can bear pressture and deformation.This artical makes analysis on the spread band drive parallel mechansim structure and features, then construct two configurations of spread band drive parallel mechansim. This paper makes the analysis on the strcutrues contains kinematics analysis of the foward and inverse solution,workspace and singularity analysis are mentioned before, then the simulation of the mechanism and its three-dimensional model are also obtained. It provides theoretical basis for such spread band drive parallel mechanism at the aspects of development and applications.First of all, the structure and characteristic are analyzed, and the paper makes improvements on strctures, and constructed two kinds of spread band drive parallel mechanism, then the degree of freedom is studied and the configurations are confirmed.Second, the solution of position is established and the analysis method of the forward solution of position is proposed. Then the inverse and forward solutions of position,velocity and acceleration of the mechanism are obtained, moreover, the Jacobin matrix is obtained. A verification of the solution of position is also studied. Then the type and analysis methods of workspace and singularity are presented in the paper.Finally, according to the above theoratical analysis, the simulation of example of the mechanism is done and three-dimensional model is established by Solidworks. Application of the model are achieved by MATLAB software, speed,angle, and angular velocity are gained too. The paper obtains a conclusion that the structure of the spread band drive parallel mechanism is reasonable. The result of analysis and theoretical research provided theoretical basis for development of spread band drive parallel mechanism, and with practical application value.