Research on kinematics of 3-dof connecting rod manipulator based on 5R kinematic chain

Take the bionic pelican fishing device as an example

https://doi.org/10.18535/ijsrm/v11i04.ec2

Authors

  • LiHua Li School of Mechanical Engineering, Yangtze University, Jingzhou, Hubei Province 434000,China, China
  • Hong Zhang School of Mechanical Engineering, Yangtze University, Jingzhou, Hubei Province 434000,China, China
  • LingXia Hou School of Mechanical Engineering, Yangtze University, Jingzhou, Hubei Province 434000,China, China
  • Jie Yuan School of Mechanical Engineering, Yangtze University, Jingzhou, Hubei Province 434000,China, China
  • MengYao Liu School of Mechanical Engineering, Yangtze University, Jingzhou, Hubei Province434000,China, China
  • Xin Liu School of Mechanical Engineering, Yangtze University, Jingzhou, Hubei Province 434000,China, China
  • HongYe Yan School of Mechanical Engineering, Yangtze University, Jingzhou, Hubei Province 434000,China, China
  • YuBo Jiang School of Mechanical Engineering, Yangtze University, Jingzhou, Hubei Province 434000,China, China
Vol. 11 No. 04 (2023)
Engineering and Computer Science
April 12, 2023

Downloads

Based on the flexibility of the neck manipulator of the bionic pelican fishing device, the demand for carrying capacity and the consideration of economic benefits, a 3-DOF connecting rod manipulator based on the 5R kinematic chain was designed, and the kinematic characteristics of the 5R five-bar mechanism in two-dimensional space and the mobility of the mechanism under the constraint of the bar length were studied. Through the application of matlab simulation, the movable range of the mechanism is obtained and the data analysis of the predetermined track is realized within the movable range, and the angle change curve chart required for the motor to achieve the predetermined track is obtained. The predetermined movement track is simulated by using the corresponding data and motion characteristics of the curve chart, which verifies the feasibility of achieving the target tracksetting within the movable range of the track.