Kinematics And Dynamics Research Of A Novel2-RPU&SPR Parallel Manipulator

In this paper,the kinematics and dynamics of a novel2-RPU&SPR parallel mechanismare systematically researched, including inverse and forward displacement kinematics,workspace analysis, singular configuration and transmission performance optimization forkinematics analysis, also containing velocity and acceleration analysis of platform and eachlimb, mathematical model derivation of driver force for dynamics analysis. The related studycontent and mathematical derivations are verified by Matlab. This mechanism is modeling bySolidworks and its dynamics is simulated by ADAMS. The main contents are as follows:The3D model of2-RPU&SPR parallel mechanism is constructed by Solidworks. Thedegree of freedom (DOF) of this mechanism is analyzed by structure constraints and DOFformula. The inverse displacement and mathematical expressions which are presented themotion rule of driver and output parameters are derived by closed-loop vector method andverified by Matlab. The expressions of forward displacement are derived by inversedisplacement solution.The constraint equations of extreme positions of2-RPU&SPR parallel mechanism areformulated according to inverse displacement and structure constrains. The workspaces withdifferent structure parameters are sought by extreme positions search method and theirdistribution are analyzed by Matlab.The Jacobian matrix of2-RPU&SPR parallel mechanism is derived. According to thegeometric constraints, the singularity criterion is created by matrix analysis method. Thesingular configurations with different output parameters are analyzed.The transmission performances of2-RPU&SPR parallel mechanism with differentstructure parameters in its reachable workspace are analyzed based on definition of GlobalCondition Index (GCI). The strcuture of this mechanism is optimazed with considering thedistributions of GCI are illustrated by the influence of a single parameter and all parameters.The mathematical expressions of velocity and acceleration of the platform and eachdriven limb are derived.And then the mathematical model of dynamics is derived by theprinciple of virtual work. The driven force of each limb is also analyzed. Theoreticalderivation of driven force is verified by the dynamics model which is combined simulated bySolidworks and ADAMS software.