Parasitic Motion and Workspace Analysis of Parallel Mechanism Based on 2-PRU/PUU

Chunsheng Ma; Jianguo Liu; Jie Wen; Yangtao He; Wenlong Fan

doi:10.16578/j.issn.1004.2539.2022.09.020

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Parasitic Motion and Workspace Analysis of Parallel Mechanism Based on 2-PRU/PUU

Test·Analysis | 更新时间：2022-09-26

- Parasitic Motion and Workspace Analysis of Parallel Mechanism Based on 2-PRU/PUU
- Journal of Mechanical Transmission Vol. 46, Issue 9, Pages: 146-151(2022)
- 作者机构：
  
  1.中北大学机械工程学院，山西太原 030051
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2022.09.020
  CLC：
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马春生,刘建国,文杰等.基于2-PRU/PUU并联机构的伴随运动与工作空间分析[J].机械传动,2022,46(09):146-151.

Ma Chunsheng,Liu Jianguo,Wen Jie,et al.Parasitic Motion and Workspace Analysis of Parallel Mechanism Based on 2-PRU/PUU[J].Journal of Mechanical Transmission,2022,46(09):146-151.
马春生,刘建国,文杰等.基于2-PRU/PUU并联机构的伴随运动与工作空间分析[J].机械传动,2022,46(09):146-151. DOI： 10.16578/j.issn.1004.2539.2022.09.020.

Ma Chunsheng,Liu Jianguo,Wen Jie,et al.Parasitic Motion and Workspace Analysis of Parallel Mechanism Based on 2-PRU/PUU[J].Journal of Mechanical Transmission,2022,46(09):146-151. DOI： 10.16578/j.issn.1004.2539.2022.09.020.

摘要

针对一种新型2-PRU/PUU并联机构的伴随运动及工作空间进行了分析。根据螺旋理论对机构的自由度进行分析；通过修正的Grübler-Kutzbach公式判断了其结果的正确性；通过创建2-PRU/PUU并联机构的运动学数学模型，推导了伴随运动与动平台位姿之间的数学关系，在此基础上，利用三维空间坐标矢量法计算了该机构的位置反解；采用极限边界搜索法在Matlab软件中运算求解出工作空间，并利用Adams软件对2-PRU/PUU并联机构进行了动平台质心运动参数的仿真计算。研究为该机构的尺度综合、误差分析以及为今后实际工程应用提供了理论与数据支撑。

Abstract

The Parasitic Motion and workspace of a new 2-PRU/PUU parallel mechanism are analyzed. Firstly， the degree of freedom of the mechanism is analyzed according to the spiral theory， and then the correctness of the results is judged by the modified Grübler-Kutzbach formula. Secondly， by establishing the kinematics mathematical model of 2-PRU/PUU parallel mechanism， the mathematical relationship between the Parasitic Motion and the position and pose of the moving platform is deduced. On this basis， the inverse position solution of the mechanism is calculated using the three-dimensional space coordinate vector method. Finally， the limit boundary search method is used to calculate the workspace in Matlab software， and Adams software is used to simulate the moving platform centroid motion parameters of 2-PRU/PUU parallel mechanism. The research provides theoretical and data support for scale synthesis， error analysis and practical engineering application of the mechanism.

关键词

2-PRU/PUU并联机构螺旋理论伴随运动位置反解工作空间

Keywords

2-PRU/PUU parallel mechanismSpiral theoryParasitic motionPosition inverseWorkspace

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