Dynamic Analysis of a New Type of Asymmetrical Parallel Mechanism Based on Lagrange Method

3rd International Conference on Automation, Control and Robotics Engineering

工业技术;计算机科学;无线电电子学

Li, Quan^1 ; Li, Bin^1 ; Zhao, Xinhua^1

Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control, Tianjin University of Technology, Tianjin

300191, China^1

关键词: Dynamics simulation;    Dynamics studies;    Lagrange methods;    Over-constrained;    Parallel manipulators;    Parallel mechanisms;    Trajectory Planning;    Translational motions;   

Others  :  https://iopscience.iop.org/article/10.1088/1757-899X/428/1/012074/pdf
DOI  :  10.1088/1757-899X/428/1/012074

来源: IOP

【 摘 要 】

In this article, a novel over constrained 2-RRU&RSR parallel manipulator is proposed and analyzed. This mechanism is composed of a moving platform and a base, which connected by two same configuration RRU legs and one RSR leg. The article uses the 2RRU&RSR parallel mechanism that can achieve 2R1T (two rotations and one translational motion) as the object. Based on the known kinematics forward solutions, the dynamics study was carried out. The dynamic model of the parallel mechanism was established using the Lagrange method and then it can be obtained that the dynamic inverse solution. Then ADAMS software was used to build a virtual prototype of this mechanism and the dynamics simulation was performed by using Lagrange method. Under the trend of a certain trajectory, the law of driving torque changes with time, paving the way for subsequent trajectory planning and control.