Kinematic Analysis of a 3-DOF Screening Parallel Mechanism With Control Decoupling

Abstract

In order to raise the low efficiency of traditional screening machine, a new parallel mechanism (PM) with two translation and one rotation is proposed. Analyze the composition of each kinematic chain based on topological characteristics of mechanism The analytical method is utilized to simplify three constraint equations of PM respectively and the correctness is verified by Matlab. On the basis of kinematic analysis, the Jacobian matrix of mechanism is solved, and decoupling characteristics of mechanism input-output control modes are evaluated. The mechanism is coupled between translational input Y and translational output x, and three input-output control modes are decoupling. In addition, the singular configuration of PM is also analyzed. The discrete element method was used to simulate material screening, and the influence of DOF on screening efficiency was analyzed by EDEM software and experiment, which result is met with the theoretical analysis