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Dynamic performance evaluation of a 2UPU/SP three-DOF parallel mechanism |
| WANG Xiaojian1, WU Jun1, YUE Yi2, XU Yundou3 |
1. Beijing Key Laboratory of Precision/Ultra-Precision Manufacturing Equipments and Control, Department of Mechanical Engineering, Tsinghua University, Beijing 100084, China;
2. Shanghai Aerospace Equipments Manufacturer, Shanghai 200245, China;
3. College of Mechanical Engineering, Yanshan University, Qinhuangdao 066004, China |
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Abstract The dynamics characteristic of parallel mechanisms are very important. This study analyzed the dynamics of a 2UPU/SP parallel mechanism in a hybrid robot for aerospace composite machining. A kinematics model was developed using the virtual work principle for the three-degree-of-freedom parallel mechanism including the plane constraints of the two UPU kinematic branches. The maximum acceleration of the moving platform when one driving force is a unit force and the other driving forces are less than or equal to the unit force was used to evaluate the parallel mechanism. This performance index was used to separately evaluate the effects of linear acceleration and angular acceleration of the 2UPU/SP parallel mechanism compared with a traditional 2UPS/UP parallel mechanism. The results show that the present 2UPU/SP mechanism has better acceleration characteristics.
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| Keywords
hybrid robot
parallel mechanism
dynamic model
performance evaluation
acceleration
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Issue Date: 14 October 2019
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2019,
Vol. 59
