A novel SCARA parallel mechanism (PM) with high-speed operation and high load-bearing capacity is proposed for fast picking, palletizing, packaging and other high-speed and heavy-duty work in food, textile, pharmaceutical, logistics, and other industries. Conduct a systematic analysis of the topology, kinematics, and dynamics of this PM. Based on Lie group theory, the degree of freedom (DOF) of the PM is confirmed.; The closed-loop vector equation is constructed and the inverse solution is analyzed; Take the derivatives of the closed-loop equation, the velocities and accelerations equations can be obtained; Then, based on the principle of virtual work, the dynamic model of the PM is established, and an effective dynamic model is obtained through simulation experiments using ADAMS software.
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Sun et al. (2024) studied this question.
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