| Due to characteristic flying, helicopter is applied to military and civilian broadly. Its flight performance and flying qualities is required to improve continuously. In recent years, researchers have researched more and more on the helicopter, especially helicopter rotor system. With the development of helicopter technique, some analytical methods of mechanism and dynamic performance of helicopter rotor system are proposed.Today the performance indicator analysis and simulation of less-DOF parallel robot is really a hot topic. We need to do a lot of research before the new parallel mechanism input to the actual field of industrial applications. In this subject we analyze the 4-RSS + PS +2- RRS parallel mechanism.Firstly, an equivalent mechanism named 4-RSS+PS+2-RRS parallel mechanism is put forward by analyzing the structure of rotating ring in helicopter swash plate mechanism, which has 7 kinematical sub chains.Secondly, the mobility of the parallel mechanism is calculated using the screw theory and the result is three freedoms of degree (DOF), two of rotational DOF, one of translational DOF. Three drivers are reasonable selected. By the method of influence coefficient and differentiation, curses of the input speed and input acceleration are got, which demonstrate that the influence coefficient is correct. On considering of the size of the mechanism and mass of legs, global dynamical performance indices of speed, acceleration, inertial force are analyzed, and atlas of them are got. Using the atlas, the size of better performance is discussed, which is useful for dimensional optimization design of parallel mechanism.Thirdly, we analyze and verify the correctness of the above performance indicators by modeling and simulation with MATLAB, Visual Studio, and OpenGL. Finally, we design a rotor system testing prototype, combined with the movement of a helicopter rotor system and dynamics of performance results of the analysis.
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