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.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
