Dynamics And Decoupling Analysis Of Parallel Manipulator Based On (2-UPS+U)PU+2-UPS Mechanism

With the rapid development of science and technology in China,robotic arms have increasingly entered the industrial field and become one of the tools to replace humans for high?intensity labor.The parallel robotic arm mechanism is favored by more companies because of its simple structure and easy control.Among them,the parallel mechanism with few degrees of freedom has been widely used in food processing,automotive inspection,aerospace and other industries due to its light and flexible advantages and large working space.Among them,the 5 DOF parallel manipulator is a type with particularly outstanding performance in the low?DOF parallel mechanism.It is more dexterous than the 3 and 4 DOF parallel manipulators,and has a simpler structure and simple control than 6 DOF parallel manipulators.It has good application prospects in the environment such as curved surface grinding and gear tooth profile processing,but the decoupling of parallel manipulators is generally poor,which will lead to more complicated kinematics and dynamics equations of the mechanism,increasing the control Difficulty,so it is important to further improve the decoupling of the parallel manipulator.In this context,a double closed loop 5?DOF mechanical arm is proposed,which adds a closed loop structure on the basis of 2?UPS+((2?UPS)+U)PU configuration to obtain a new topology configuration 2?UPS+((2?UPS)+U)PU.The introduction of the closed loop structure enables the mechanism to obtain a higher carrying capacity and provides a new idea for the new topology configuration.Firstly,the mapping of the velocity of the branch drive,the velocity of the swing angle of the branch and the generalized velocity V_o of the moving platform is derived.The decoupling matrix between the independent variable(5)q of the mechanism and the generalized velocity V_o of the moving platform is established.Secondly,the mapping between the velocity of the center of mass of the swing bar,the expansion bar and the generalized velocity V_o of the moving platform in the branch chain of the mechanism is established.Thirdly,the ADAMS virtual simulation software is used to simulate the mechanism.The virtual prototype of the organization is built for motion simulation,and the simulation result curve is generated by the measurement function to verify the dynamic model of the mechanism.Finally,the coupling degree of the mechanism is calculated,and the input?output correlation and decoupling of the mechanism are analyzed.Optimize the prototype and manufacture the prototype.