Rigid Dynamic Model and Analysis of 5-DOF Parallel Mechanism | Zendy

Xiulong Chen | Zendy; Xiaoxia Liang | Zendy; Yu Deng | Zendy; Qing Wang | Zendy

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Rigid Dynamic Model and Analysis of 5-DOF Parallel Mechanism

Author(s) -

Xiulong Chen,

Xiaoxia Liang,

Yu Deng,

Qing Wang

Publication year - 2015

Publication title -

international journal of advanced robotic systems

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.394

H-Index - 46

eISSN - 1729-8814

pISSN - 1729-8806

DOI - 10.5772/61040

Subject(s) - mechanism (biology) , computer science , kinematics , screw theory , correctness , translation (biology) , parallel manipulator , rotation (mathematics) , virtual work , rigid body , work (physics) , degrees of freedom (physics and chemistry) , simulation , control theory (sociology) , finite element method , algorithm , artificial intelligence , mechanical engineering , robot , classical mechanics , structural engineering , physics , biochemistry , chemistry , control (management) , quantum mechanics , messenger rna , engineering , gene

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

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