Abstract
Dynamics performance is very important for a manipulator used for high-speed machining. In this paper, the dynamic performance evaluation method of the 2UPU/SP parallel mechanism in a hybrid robot for aerospace composite machining is studied. The dynamic model is obtained by the virtual work principle, and a dynamic performance index considering gravity is proposed. Based on the given performance index, the effect of placement direction on dynamic performance of 2UPU/SP mechanism is studied, and the comparison between the dynamic performance of 2UPU/SP and the traditional Tricept mechanism is carried out. The results show that the 2UPU/SP mechanism has better dynamic performance in the vertical placement than the horizontal placement, and 2UPU/SP mechanism has better dynamic performance than Tricept mechanism.
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