| 2R1T three degrees of freedom parallel mechanism due to its simple structure,easy to control and become applicability studied in recent years.This paper analyzes the degree of freedom,position analysis,working space,kinematics simulation and performance of the 2UU&UPU parallel mechanism.The main research contents are as follows:1)Using the screw theory and G-K formula to analyze the degrees of freedom of the 2UU&UPU parallel mechanism,the mechanism has 3 degrees of freedom 2R1 T.2)The closed-loop vector method is used for position analysis,and numerical examples are used for verification.Rate equation and Jacobian matrix is solved by the total differential inverse position obtained.Use the singularity of Jacobian matrix analysis agencies.The results show that the mechanism has an anti-solution singularity.3)Solve the working space of 2UU&UPU mechanism.Analyze the influence of the size parameter on the working space,and obtain the influence curve of the size parameter.The inverse kinematics solution of the mechanism was simulated and verified by virtual prototype simulation,which proved the correctness of the kinematics analysis.4)Analysis of flexibility,rigidity and movement of the mechanism/force transmission.The results show that the mechanism of the working space near the middle,agility mechanism,stiffness and motion / force transfer the better the performance,and the closer to the boundary of the working space,the poorer the performance.mechanism.The high-quality transmission space of the mechanism under the original parameters is only 32%,which requires further optimization design.This study provides a theoretical basis for further study 2UU&UPU organization,and provide a theoretical basis for application of the organization.Figure 35;Table 5;Reference 80... |
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