Dynamic modeling and simulation of 2UPR/UPS/UP parallel mechanism

CHEN Wenbo; CHEN Weijie; YUE Yi; WEI Baochen; CUI Guohua; PAN Ying

doi:10.12299/jsues.21-0265

Volume 36 Issue 3

Jun. 2022

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Article Navigation > Journal of Shanghai University of Engineering Science > 2022 > 36(3): 309-314

CHEN Wenbo, CHEN Weijie, YUE Yi, WEI Baochen, CUI Guohua, PAN Ying. Dynamic modeling and simulation of 2UPR/UPS/UP parallel mechanism[J]. Journal of Shanghai University of Engineering Science, 2022, 36(3): 309-314. doi: 10.12299/jsues.21-0265

Citation:

CHEN Wenbo, CHEN Weijie, YUE Yi, WEI Baochen, CUI Guohua, PAN Ying. Dynamic modeling and simulation of 2UPR/UPS/UP parallel mechanism[J]. Journal of Shanghai University of Engineering Science, 2022, 36(3): 309-314. doi: 10.12299/jsues.21-0265

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Dynamic modeling and simulation of 2UPR/UPS/UP parallel mechanism

doi: 10.12299/jsues.21-0265

School of Mechanical and Automotive Engineering, Shanghai University of Engineering Science, Shanghai 201620, China

Received Date: 2021-11-24
Publish Date: 2022-06-30

Abstract

Abstract

The 2UPR/UPS/UP redundant parallel mechanism (PM) with three degrees of freedom was taken as the research object. According to constraint conditions of this PM, the inverse solution of position and the Jacobian matrix were solved by establishing closed-loop vector equation of each branch. Based on kinematics analysis, the regular pattern of three driving branches was obtained to be convenient to achieve the position and orientation control of this PM. Based on the above conditions, the dynamics of this PM was developed by using the virtual work principle, and the dynamics model was established. Finally, the simulation of mechanism kinematics and dynamics were implemented by applying Matlab and Adams software under typical working conditions. The simulation results can testify the validity of the kinematics and dynamics model. The method lays a theoretical foundation for the design and control of this PM and is fit for the research and analysis of similar mechanisms.
- parallel mechanism,
- kinematics,
- inverse dynamics,
- virtual work principle

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References(19)

References

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