Kinematics solution and trajectory planning of stepping transverse slotting mechanism

A multi rod stepping parallel slotting mechanism is proposed according to the principle of mechanism. The continuous change curve of the point marked on slotting mechanism during the straw inserting process was obtained by the Matlab software according to the kinematic model, and the fsolve function was used to plan the trajectory of marked point. A 3D modeling of stepping slotting mechanism was conducted by Creo2.0 and was simulated dynamically based on ADAMS for machine operation with longitudinal width of 900, 1 000 and 1 100 mm. The working performance of the mechanism was analyzed by the motion path of the mark point P. Its efficiency, accuracy and flexible operation can meet the requirement of paving straw check.