关键词: 2-RUUS机构, 惯性力, 加速度, 影响系数矩阵

Abstract: Configuration of 2-RUUS mechanism is analyzed. The influence coefficient matrix of the mechanism is obtained by using virtual mechanism method. Simulation curves of input speed and input acceleration of mechanism are obtained by adopting influence coefficient method and differential coefficient method, and the correctness of influence coefficient matrix is verified. Meanwhile, the unequal equation expressing the relation between robot mechanism inertia force and mechanism size and quality and the global performance index of inertia force are given. This performance index can be used to analyze the influence of mechanism size and quality on the dynamic performance of mechanism. At last, 2-RUSS mechanism’s dynamic performance is analyzed by using global performance indices of acceleration and inertia force, and the relative performance atlas is obtained. The relationship between 2-RUUS mechanism size and dynamic performance, and the size of mechanism with good dynamic performance are obtained through analyzing performance atlas.

Key words: 2-RUUS mechanism, Acceleration, Inertia force, Influence coefficient matrix