Dynamic Modeling and Performance Analysis of a 3-RRS Parallel Mechanism

doi:10.3901/JME.2025.07.315

Abstract

Abstract: A dynamic modeling and performance evaluation method for 3-RRS parallel mechanism is studied. The inverse displacement, velocity, acceleration and dynamic models of the mechanism are established, and the correctness of the dynamic model is verified through Solidworks motion. The mapping matrix of the driving moment and the acceleration of the mechanism in generalized coordinates is established, the translation and rotation dynamics performance evaluation index of the mechanism are proposed based on the matrix singular value theory considering the motion characteristics of one translational and two rotational of the mechanism, and the “local” dynamic performance evaluation indexes of the mechanism that can replace the global dynamic performance and improve computing efficiency are constructed. The variation of the global and “local” dynamic performance with the design parameters of the mechanism and the correlation between the two are studied, and the rationality of using the “local” performance to characterize global performance is verified.

Key words: parallel robot, dynamic modeling, dynamic performance evaluation

CLC Number:

TP24

ZHANG Yuxuan, WANG Manxin, WANG Minghao, FANG Mingfeng, FENG Hutian. Dynamic Modeling and Performance Analysis of a 3-RRS Parallel Mechanism[J]. Journal of Mechanical Engineering, 2025, 61(7): 315-324.

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