Analysis of Kinetic Positional Solution and Workspace of Pure Translational 3-UPU Parallel Mechanism based on Matlab

Zhiqiang Zhu; Yanhong Xiong

doi:10.16578/j.issn.1004.2539.2019.03.012

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Analysis of Kinetic Positional Solution and Workspace of Pure Translational 3-UPU Parallel Mechanism based on Matlab

Design· Calculation | 更新时间：2022-10-03

- Analysis of Kinetic Positional Solution and Workspace of Pure Translational 3-UPU Parallel Mechanism based on Matlab
- Journal of Mechanical Transmission Vol. 43, Issue 3, Pages: 65-71(2019)
- 作者机构：
  
  1.湖北职业技术学院机电创新研究所，湖北孝感 432000
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2019.03.012
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朱志强,熊艳红.基于Matalb的纯平动3-UPU并联机构正运动位置解及工作空间分析[J].机械传动,2019,43(03):65-71.

Zhu Zhiqiang,Xiong Yanhong.Analysis of Kinetic Positional Solution and Workspace of Pure Translational 3-UPU Parallel Mechanism based on Matlab[J].Journal of Mechanical Transmission,2019,43(03):65-71.
朱志强,熊艳红.基于Matalb的纯平动3-UPU并联机构正运动位置解及工作空间分析[J].机械传动,2019,43(03):65-71. DOI： 10.16578/j.issn.1004.2539.2019.03.012.

Zhu Zhiqiang,Xiong Yanhong.Analysis of Kinetic Positional Solution and Workspace of Pure Translational 3-UPU Parallel Mechanism based on Matlab[J].Journal of Mechanical Transmission,2019,43(03):65-71. DOI： 10.16578/j.issn.1004.2539.2019.03.012.

摘要

采用空间机构螺旋原理，分析了3-UPU并联机构的构型和纯平动特性。给出了连续型多项式代数拓扑法，构建3-UPU并联机构的正运动位置解的非线性方程组，并对方程组进行计算。该方法无需给定值就能有效逼近并联机构非线性方程组的解，且可解决方程组求解时出现的分叉和散度问题，对超越问题的解析具有重要的参考意义。基于Matlab/ Simmechanics构建3-UPU并联机构PID控制模型并分析其工作空间，验证并联机构构型设计中螺旋理论应用的准确性。该方法对求解多自由度并联机构运动学问题有切实可行的借鉴意义。

Abstract

The configuration and pure translational performance of 3-UPU parallel mechanism is analyzed by using spatial mechanism screw theory. The continuous polynomial algebraic topology method is proposed， the positive kinetic non-linear equations of 3-UPU parallel mechanism is built， and the solution of the equation set is calculated. By this approach， the solution of nonlinear kinetic equations of parallel mechanism can be found effectively without giving initial values. Meanwhile， the problems of divarication and divergence are also eliminated in the solving process， which have vital reference significance to the nonlinear transcendence problem solving. Based on Matlab/ Simmechanics， the kinetic PID control model of 3-UPU parallel mechanism is built and its workspace is analyzed to verify the accuracy in the application of spiral theory on parallel mechanism configuration design. This method provides feasible and practical reference significance to solve and analyze the kinematics problem of multiple degrees of freedom parallel mechanism.

关键词

空间机构螺旋理论3-UPU并联机构连续多项式代数拓扑法正向运动位置解工作空间

Keywords

Spatial mechanism screw theory3-UPU parallel mechanismContinuous polynomial algebraic topological methodPositive kinetic position solutionWorkspace

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