Rigid Dynamic Model and Analysis of 5-DOF Parallel Mechanism:

International Journal of Advanced Robotic Systems

XiulongChen¹ 

关键词: parallel mechanism;    rigid dynamics model;    5-DOF;    virtual work principle;   

DOI  :  10.5772/61040

学科分类：自动化工程

来源: InTech

【 摘 要 】

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.

【 授权许可】

CC BY