Kinematic Analysis and Dimensional Synthesis of a Reconfigurable Parallel Mechanism for Wine Box Production Line

A reconfigurable parallel mechanism is proposed to automate the gluing of the wine box glue line and the scrap-clearing of the wine box base on the wine box production line. Firstly, based on the lockable joint, the mechanism can switch between 3T (T denotes translation) and 3T1R (R denotes rotation) motion modes. The closed-loop vector method and the D-H method are presented to determine the inverse position in the corresponding mode. The position inverse equation is derived to obtain the Jacobian matrix of the mechanism and its singularity is analyzed. In 3T motion mode, the dexterity index is analyzed. In 3TIR motion mode, the velocity index is analyzed. The spatial model method is used to obtain the performance map of the corresponding motion mode, and the dimension parameters are optimized according to the practical application requirements to improve the kinematic performance of the mechanism.