Analysis on Dynamic Performance of 2R1T Parallel Mechanism for Packaging Line

SHA Xinmei; XU Wei

doi:10.19554/j.cnki.1001-3563.2026.01.017

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Packaging Engineering ›› 2026, Vol. 47 ›› Issue (1) : 153-160. DOI: 10.19554/j.cnki.1001-3563.2026.01.017

Automatic and Intelligent Technology

Analysis on Dynamic Performance of 2R1T Parallel Mechanism for Packaging Line

SHA Xinmei, XU Wei

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Abstract

In order to enhance the stability and control precision of the printing and carton-packing processes in packaging production lines, the work aims to conduct dynamic modeling and performance analysis of a 2R1T parallel mechanism applied to packaging lines. Firstly, with the spatial 2PRU-PRRPa parallel mechanism as the research object, the closed-loop vector method was employed to solve the inverse kinematics equations and the mapping relationships between input and output parameters. Secondly, the dynamic equations of the mechanism were established with the Lagrange method to define joint-mapped inertia index, joint-space inertia variation coefficient, driving power proximity coefficient, and energy transfer efficiency and analyze the dynamic performance of the mechanism. Finally, a co-simulation study combining Simulink and Adams was conducted, and the dynamic performance evaluation indexes were derived through numerical examples. When the parallel mechanism rotated at a fixed orientation angle along the axial direction, the central region of its cross-section exhibited favorable inertia characteristics and acceleration performance. The driving power proximity coefficient λ_zp fell within the theoretical range, while the energy transfer efficiency ϕ_E ranged between [0.19, 0.31], varying with the position of the moving platform's end-effector. This study systematically analyzes the effect of the dynamic performance of the parallel mechanism on the position of its end-effector. This provides theoretical reference for planning the motion trajectory of different packaging line processes, setting corresponding task workspaces, and achieving stable and precise control of packaging line processes.

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parallel mechanism / dynamics / driving power / Lagrange method / performance evaluation

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SHA Xinmei, XU Wei. Analysis on Dynamic Performance of 2R1T Parallel Mechanism for Packaging Line[J]. Packaging Engineering. 2026, 47(1): 153-160 https://doi.org/10.19554/j.cnki.1001-3563.2026.01.017

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