Configuration Design And Research Of 2RPS/2SPC And 2RPS/2SPU Parallel Mechanism

As a part of the robot,the parallel mechanism is paid more and more attention by many ex-perts because of its high precision,strong bearing capacity and good flexibility.Because of its configuration characteristics,the steward parallel mechanism will produce problems such as in-terference and singularity,and the less freedom parallel mechanism is an important branch of the parallel mechanism.Two RPS/2SPC and two RPS/2SPU parallel mechanisms are proposed,both of which are two translation and two rotation(2T2R),and the same configuration is symmetrical ar-rangement structure.The configuration analysis,kinematics analysis and workspace analysis of the two parallel mechanisms are carried outThe two mechanisms are analyzed by topological structure theory structure theory,and the degrees of freedom of the two mechanisms are two translations and two rotations(2T2R),and the existence of negative motion pairs of the two mechanisms is judged motion chain theory,the coupling degree of the two mechanisms is calculated.Secondly,the kinematics analysis of the mechanism is carried out Firstly,the spatial co-ordinate transformation matrix is used to solve the position inverse of the two RPS/2SPC parallel mechanisms,and the length of the known four branches is obtained on the basis of the position inverse solution,and then the position inverse solution of the two RPS/2SPU parallel mecha-nisms is carried out by closed vector method Then the Adams software is used to simulate the reverse solution and positive solution of the parallel mechanism,and the inverse solution formu-la of the parallel mechanism and the data calculated in the Adams of the parallel mechanism are used to simulate the MA TLAB.The simulation figure is compared with the inverse solution in the Adams to verify the correctness of the theoretical solution.Then,two kinds of parallel mechanism workspace are obtained by limit boundary search method,two RPS/2SPC and two RPS/2SPU are generated,and the three-dimensional graphics of the workspace and the two-dimensional graphics projected on the coordinate plane are gener-ated The workspace of the two mechanisms is symmetrical,which is consistent with the con-figuration of the mechanism.The two parallel mechanisms are applied to the hydraulic support The modal analysis,prestressing modal analysis and transient dynamic analysis of the two RPS/2SPC and two RPS/2SPU parallel mechanisms are carried out The resonance frequency,deformation and sur-rounding rock coupling of the two mechanisms are obtained.Figure[101]table[8]reference[82]...