Optimal Design And Dynamic Model Of 6UPS Parallel Mechanism

6UPS parallel mechanism is one of the Stewart parallel stability platforms,because it possesses high positioning capability provided by their high structural rigidity and high strength-to-weight ratios,it has already been widely used in kinds of engineering fields.Therefore,this topic around the parallel stabilized platform optimization design,the development requirements for the simulation platform of racing car,dynamic modeling,the development of optimization software,parameter identification and inertial parameters identification.The main research contents are as follows:The kinematics of the parallel stabilized platform is analyzed and the size is optimized.The inverse position solution model of 6UPS parallel mechanism is established,reasonable weight distribution.Considering the effective attitude workspace and movement force transmission performance evaluation index,both the maximum effective posture workspace volume and force transmission performance of the optimal motion,adopt the method of performance map overlay size optimization of parallel mechanism.The above procedure involves the calculation of the process.Based on Visual Basic 6.0 software,6UPS parallel mechanism optimization system is developed,not only can realize the optimization of the size of institutions,also can realize workspace validation and dynamic trajectory planning.Solidworks redeveloped,mechanism parametric modeling came true.Dynamic model of multi energy domain of the hybrid robot is built,including the domain of mechanism,electricity.Based on the bond graph,the screw bond graph is introduced and studied for the spatial parallel mechanism.Dynamic models of the mechanism is built by screw bond graph,the state equation established.and the dynamics is solved and verified.At the same time,the dynamic model of the electric cylinder drive subsystem is constructed by traditional bond graph.And then the global dynamic model of the system is obtained.Based on the global dynamic model,the inertia and parameters of the system are identified via the experiments.The identification model for the inertia parameters is obtained by screw equivalence principle and the bonding diagram state equation,and the exciting trajectory is designed by Fourier series which is modified by the quintic polynomial and optimized.Finally,The identification results are obtained by the experiments,and verified through an arbitrary trajectory.