Dynamic Modeling and Performance Analysis of a 2-UPR-RPU Parallel Manipulator

doi:10.3901/JME.2020.13.110

Abstract

Abstract: Dynamic modeling and performance analysis of parallel manipulators are research priorities in the design stage. Based on the screw theory, a systemic dynamic modeling and performance evaluation of a 2-UPR-RPU three degrees of freedom parallel manipulator are presented, where U, P, and R denote universal, prismatic, and revolute joint, respectively. Firstly, the inverse kinematics of the 2-UPR-RPU parallel manipulator is presented. Next, through the screw theory, the velocity and acceleration analysis of joints and limbs in the 2-UPR-RPU parallel manipulator are discussed in detail, followed by the actuated force of three actuators are obtained based on the virtual work principle. A numerical simulation based on the ADAMS software is conducted to verify the correctness of the theoretical result. Then, the distributions of dynamic manipulability ellipsoid index are used to evaluate the dynamic translational and rotational performances of the 2-UPR-RPU parallel manipulator in different operation heights, which provide references for the design of prototype. The dynamic modeling and performance analysis provide a fundamental basis for the efficient and precise control of 2-UPR-RPU parallel manipulator in the actual machining manipulations.

Key words: parallel manipulator, screw theory, dynamic modeling, dynamic performance analysis

CLC Number:

TG156

CHAI Xinxue, YANG Yong, XU Lingmin, LI Qinchuan. Dynamic Modeling and Performance Analysis of a 2-UPR-RPU Parallel Manipulator[J]. Journal of Mechanical Engineering, 2020, 56(13): 110-119.

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