Accurate Dynamics Modeling for a Novel Modular Reconfigurable 3T1R Parallel Manipulator

doi:10.3901/JME.260407

Abstract

Abstract: Aiming at the high-speed and high-precision operational needs in the fields of electronic packaging, precision machining, and high-performance 3D printing, the accurate dynamic modeling of a modular reconfigurable 3T1R parallel manipulator is investigated. Firstly, based on the screw theory, the degrees of freedom and constraint characteristics of the branch are analyzed, revealing that the end effector of the mechanism can achieve decoupled three-translations and one-rotation motion. Secondly, the inverse position analysis of the mechanism is obtained by the geometric projection method and the closed-loop vector method. The velocity and acceleration mapping models for each joint and the end effector are sequentially established by utilizing the superposition principle of twist screws and the properties of Lie screws. On this basis, the inertia wrench of each component are represented using screw theory, and the compact system dynamics model is established using the principle of virtual work. Finally, the correctness of the dynamic model is verified by comparing the results of the SolidWorks&Simscape collaborative simulation with the theoretical model calculations. Introducing evaluation metrics for error analysis reveals that the torque errors of the three branches are all less than 0.050 3 N·m, with an average relative error of less than 0.67%；the torque error of the RUPU branch chain is less than 7.62×10^-5 N·m, with an average relative error of less than 1.73%；and the decoupling characteristics of the manipulator’s translational/rotational motion are further demonstrated through simulation. It provides an important foundational for high-speed and high-precision control of the manipulator.

Key words: 3T1R parallel manipulator, screw theory, degrees of freedom analysis, dynamic modeling, multibody simulation

CLC Number:

TG112

LIANG Dong, SUN Xiao, SONG Yimin. Accurate Dynamics Modeling for a Novel Modular Reconfigurable 3T1R Parallel Manipulator[J]. Journal of Mechanical Engineering, 2026, 62(9): 62-74.

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URL: http://www.cjmenet.com.cn/EN/10.3901/JME.260407

http://www.cjmenet.com.cn/EN/Y2026/V62/I9/62

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