Design And Analysis Of Rowing Training Device Based On (2-UPU+SPR)+2(3-UPS+S) Hybrid Mechanism

As an official competition event in the National Games,Asian Games and Olympic Games,rowing is a latent advantage event in China.The daily training of rowers and the popularization of rowers need appropriate training devices.The design and manufacture of rowing training equipment has broad application prospect.This paper designs a rowing training device based on the principle of rowing and the advantages of hybrid mechanism,which is mainly suitable for the land training of single sculls rowing boat.The training device consists of two 3-UPS+S mechanisms and a 2-UPU+SPR mechanism to form a double-layer hybrid mechanism.First of all,this paper analyzes the principle of rowing motion and puts forward the parallel mechanism of upper and lower layers which can meet the requirements of rowing training.The upper 3-UPS+S mechanism(oar device)and the lower 2-UPU+SPR mechanism(rowing platform)are respectively analyzed and designed to obtain the basic configuration of rowing training device.Secondly,based on the configuration designed above,the kinematics analysis of the rowing training device is carried out.In order to understand the Angle range of the paddle device,the inverse solution of the kinematic position of the 3-UPS+S mechanism and the limit of the rod length were used to verify the rotation range of the paddle.The inverse solution of kinematics position of 2-UPU+SPR mechanism of rowing platform was solved,and the relationship between terminal pose and branch length was obtained.At the same time,the velocity acceleration of the rowing training device is analyzed and the relationship between the acceleration of the branch velocity and the acceleration of the terminal platform is obtained.Through MATLAB and Solidworks and other software simulation verification.Then,based on the static transfer matrix and the binding force/moment system,the stiffness deformation of the rowing training device is analyzed.In order to establish the stiffness model of the integrated hybrid mechanism,the static analysis was carried out on the branches of the mechanism,and the axial deformation of the linear driving pair with ball screw was considered in the stiffness deformation analysis,and the relationship between the end deformation and external load of the hybrid mechanism was obtained.According to the stiffness model established above,the stiffness distribution diagram of the hybrid mechanism was drawn,and the finite element simulation was carried out to simplify the actual external load.Finally,according to the overall design of the rowing training device above,the required parts are processed and the prototype is built.Based on the kinematics model and stiffness distribution of the rowing training device,the prototype and control system were used to carry out the large-scale rotation experiment and the end trajectory following experiment of the rowing training device,which verified that it has a large rotation Angle and motion stability.Meet the actual needs of rowing sports.