Dynamics Analysis of a Symmetrical 2R1T 3-UPU Parallel Mechanism

doi:10.3901/JME.2017.21.046

Abstract

Abstract: The dynamic analysis and co-simulation research of a 3-UPU symmetrical parallel mechanism are studied. This mechanism is comprised of two identical platforms and three UPU branches. The base and moving platform are always symmetrical about a middle plane, and it has two rotational and one translational (2R1T) degrees of freedom (DOFs). Firstly, the velocity and acceleration of all the links are derived, the Jacobian matrices of the legs are solved, and the dynamic model of the mechanism is established by virtual work principle. Then, the dynamic model is verified by the co-simulation method. Two numerical examples are given to demonstrate the feasibility and effectiveness of this dynamic model. Especially, the dynamic characteristic of this mechanism during the fixed-axis rotation is analyzed, which is useful for the further study and practical application.

Key words: 2R1T, co-simulation, dynamics analysis, parallel mechanism, virtual work principle

CLC Number:

TP242

CHEN Ziming, LIU Xiaomeng, ZHANG Yang, HUANG Kun, HUANG Zhen. Dynamics Analysis of a Symmetrical 2R1T 3-UPU Parallel Mechanism[J]. Journal of Mechanical Engineering, 2017, 53(21): 46-53.

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