Statics Analysis on Planar Moving Parallel Mechanism Based on Boundary Element Method

This paper presents intensive research on 2-DOF planar moving parallel mechanism during developing a new type of hybrid moving machine tool.The composition of this planar parallel mechanism is introduced,its direct and inverse kinematics solution formulas are deduced,and its passive joint is solved.The forces acted on the parallel mechanism are modeled and analyzed by boundary element method(BEM),and the forces acted on every linkage are formulated.All the solutions are validated by ADAMS simulation.It lays a foundation for the design and development of this mechanism.The analysis method in this paper provides a new idea for the parallel mechanism’s static analysis.