Abstract
A prototype of a 2SPS+UPU+SP type parallel rotor of helicopter is developed. Its kinematics model and dynamics model are established. Firstly, the structural principle and the advanced performances of the parallel rotor of the helicopter are explained, and the degree of freedom of the parallel mechanism is calculated. Secondly, the kinematics formulas are derived for solving the displacement, Jacobian matrix, general velocity, Hessian matrix and acceleration of the moving links in the parallel mechanism. Thirdly, a dynamics model of the parallel mechanism for the helicopter rotor is established based on the derived kinematic formulas. Finally, the theoretical kinematics and dynamics solutions are verified by the simulation mechanism of the parallel rotor of the helicopter.
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