Research On Shaking Force Balance For Parallel Manipulator Based On Ordered Single-Opened-Chains

Since the position analysis of single loop spatial mechanisms is easy to finish, the finite place method is introduced to Shaking force balance analysis in the mechanisms. Nevertheless, the position analysis of spatial parallel mechanisms is hard to realize, and a unit vector method based on single opened chains is applied to Shaking force balance analysis.The main contents of this paper are arranged as follows. Firstly, the research status of Shaking force balance analysis and some terms of Single open chains are introduced. Secondly, the finite place method is expanded to Shaking force balance analysis in the mechanisms, and the solving thought is illustrated. The thoughts and characteristics of single opened chains was discribed. Thirdly, familiar SOCs are classified, and their mass radius product models are set up in order to be called as submodules, which lays the solid foundation for automatic generation of the equation and the software. The RRCS-SSR parallel manipulator is illustrated to show the Shaking force balance analysis, and the result is compared to verify the high reliability and efficiency of this method. At last, the skills of the method are discussed.The article is further expansion and perfection of the SOCs theory. And a simple and reliable and efficient method is provide to the Shaking force balance analysis of single loop spatial mechanisms and complex parallel mechanisms. The research has important significance in study of the development of reasonable parallel manipulator and its application.