Abstract
This paper introduces a novel 4-UPS-RPS spatial parallel mechanism, which can achieve three rotation degrees and two translation degrees of freedom. A rigid dynamic model is established and analysis of the parallel mechanism is carried out. The kinematics of the RPS and UPS driving limbs are analysed and the velocity-mapping relationships between the driving limbs and the other parts are built. The load conditions of the parts are analysed, and the rigid dynamic model of the 4-UPS-RPS parallel mechanism is derived by the virtual work principle approach. Using the example of the parallel mechanism movement, a driving forces analysis of the 4-UPS-RPS parallel mechanism is carried out, and the correctness of the rigid dynamic model is verified by numerical calculation and virtual simulation.
Highlights
The spatial parallel mechanism, as a new-structure mech‐ anism, has been applied in many fields, such as machine building, aerospace, and industrial robotics [1-3]
This paper introduces a novel 4-UPS-RPS spatial parallel mechanism, which can achieve three rotation degrees and two translation degrees of freedom
The load conditions of the parts are analysed, and the rigid dynamic model of the 4-UPS-RPS parallel mechanism is derived by the virtual work principle approach
Summary
The spatial parallel mechanism, as a new-structure mech‐ anism, has been applied in many fields, such as machine building, aerospace, and industrial robotics [1-3]. The rigid dynamic model and the analysis of the parallel mechanism, which form the theoretical basis of design, motor control, simulation and performance optimization [4-8], must be investigated. The main existing rigid modelling approaches for parallel mechanisms are the virtual work principle method, the Newton-Euler method and the Lagrange method [9-18]. The robot in this paper is a new 5-DOF (degrees of freedoms) parallel mechanism invented by our team. The rigid dynamics equation of the 4UPS-RPS parallel mechanism, which consists of four UPS (universal joints/prismatic pairs/spherical joints) driving limbs, one RPS (revolution joints/prismatic pairs/spherical joints) driving limb, a fixed platform and a moving plat‐ form, is derived by the virtual work principle in this paper. The driving forces of the 4-UPS-RPS parallel mechanism are analysed by numerical calculation and virtual simula‐ tion, respectively
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