Dynamic equation of 4-UPS-UPU parallel mechanism based on Newton-Euler approach

CHEN Xiu-long; DONG Fang-qi; WANG Qing

doi:10.3788/OPE.20152311.3129

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Dynamic equation of 4-UPS-UPU parallel mechanism based on Newton-Euler approach

更新时间：2020-08-13

- Dynamic equation of 4-UPS-UPU parallel mechanism based on Newton-Euler approach
- Optics and Precision Engineering Vol. 23, Issue 11, Pages: 3129-3137(2015)
- 作者机构：
  
  1. 山东科技大学机械电子工程学院,山东青岛,266590
  2. 山东科技大学土木工程与建筑学院,山东青岛,266590
- 作者简介：
- 基金信息：
- DOI：10.3788/OPE.20152311.3129
  CLC： TH112;TP273
- Received：23 April 2015，
  
  Revised：05 June 2015，
  
  Published：25 November 2015
- 稿件说明：
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陈修龙, 董芳杞, 王清. 基于牛顿-欧拉法的4-UPS-UPU并联机构动力学方程[J]. 光学精密工程, 2015,23(11): 3129-3137

CHEN Xiu-long, DONG Fang-qi, WANG Qing. Dynamic equation of 4-UPS-UPU parallel mechanism based on Newton-Euler approach[J]. Editorial Office of Optics and Precision Engineering, 2015,23(11): 3129-3137
陈修龙, 董芳杞, 王清. 基于牛顿-欧拉法的4-UPS-UPU并联机构动力学方程[J]. 光学精密工程, 2015,23(11): 3129-3137 DOI： 10.3788/OPE.20152311.3129.

CHEN Xiu-long, DONG Fang-qi, WANG Qing. Dynamic equation of 4-UPS-UPU parallel mechanism based on Newton-Euler approach[J]. Editorial Office of Optics and Precision Engineering, 2015,23(11): 3129-3137 DOI： 10.3788/OPE.20152311.3129.

摘要

采用牛顿-欧拉法建立了空间并联机构的动力学方程

用于研究4-UPS-UPU五自由度空间并联机构的刚体动力学建模。分析了4-UPS-UPU并联机构的支链受力和动平台受力情况

基于牛顿-欧拉法推导出了该并联机构的刚体动力学方程。利用Matlab分别对动平台在空载和加载条件下的驱动力进行理论计算

得到了该机构5个驱动杆的驱动力。最后

利用ADAMS对4-UPS-UPU并联机构虚拟样机进行了动力学仿真分析。结果表明:并联机构在

轴为0.95 m的平面内按半径为0.01 m的圆轨迹运动时

驱动杆1受力最大

空载时最大值达-760.6 N

加载时最大值达-889.7 N。理论计算结果和虚拟样机仿真结果基本一致

验证了理论模型的正确性。该项研究为4-UPS-UPU五自由度并联机构物理样机的制造奠定了理论基础

也为其他空间并联机构刚体动力学建模提供了思路。

Abstract

The dynamics equation of a space parallel mechanism was established on the basis of Newton-Euler approach to explore the rigid-body dynamic modeling of the 4-UPS-UPU 5-DOF parallel mechanism. The forces of driving limbs and a moving platform for the parallel mechanism were analyzed

and the rigid-body dynamics equation of 4-UPS-UPU parallel mechanism was derived by Newton-Euler approach. Then

Matlab was used to calculate numerically the driving forces for the moving platform with or without loads

and the driving forces of five driving limbs were obtained respectively. Finally

the ADAMS was taken to perform the dynamic simulation for a virtual prototype of the parallel mechanism. Research results indicate that when the parallel mechanism moves a circle with a radius of 0.01 m in the

axis at a 0.95 m plane

the driving force of the limb 1 is the maximum

the maximum value without the load is-760.6 N

and that with the load is-889.7 N. The theoretical calculation results are greatly consistent with that of virtual prototype simulation

which verifies that the rigid-body dynamics analysis is correct. The research not only provides a theoretical basis for manufacture of 4-UPS-UPU parallel mechanism

but also suggests a way to the rigid body dynamics modeling for other spatial parallel mechanisms.

关键词

Keywords

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