Study On The Kinematics And Rigidity Of 3-UPU Parallel Mechanism

The 3-UPU type parallel mechanism with its unique structural characteristics, has the advantages of good motion performance, strong stability has a broad application prospect in satellite multidimensionalvibrationisolation system, parallel machine tool industry. This paper makes systematic theoretical study on the mechanism, the software simulation of verification and simulation theory.This paper mainly includes:comparing two methods to analyze the mechanism of degree of freedom, according to the geometric characteristics of the model, using the new numerical method to obtain mechanism inverse solution and positive solution equation, and through the example analysis shows the correct equation. Inverse Jacobi matrix equation based on the derived institutions in the organization and position, the singularity of the mechanism makes the theoretical analysis, a variety of basic parameters of the mechanism design, and analyses the mechanism kinematics simulation by software Pro/E and ADAMS, to verify the theory of singularity analysis.Through the mechanism of inverse position with polar limit search method using MATLAB software to solve the work space, the three-dimensional map and the corresponding two-dimensional projection, and the relationship between the basic parameters and various size of the workspace of the mechanism simulation research.The stiffness of the mechanism is divided into static and dynamic stiffness, through software Workbench carries on the dynamic stiffness analysis, through the analysis of the three modes, the resonance mechanism under loads of variable frequency and maximum deformation. The stiffness matrix of the parallel mechanism and the matrix using the software of MATLAB simulation mechanism in theory of static stiffness distribution. Finally, through the software Workbench on the mechanism of three kinds of typical pose for the static stiffness simulation results accord with the theoretical analysis.