Comparative Performance Analysis Of Kinematics And Dynamics Of A Family Of Novel Over-Constrainted Parallel Manipulators

In this paper,the models which are called 2-RPU&SPR are used to analyse the properities of a class of a constraint mechanism kinematics and dynamics.Firstly,the kinematics is analysed.the contend are involving the analysis of inverse and forward position,workspace analysis,dynamic analysis and stiffness analysis of the nature of the structures;As for the dynamics of this thesis in this paper,the inverse dynamics model concerning the manipulators are established.It is needed to solve the branched chain’ velocity and acceleration of the moving platform,and the imposed forces’ s analysis of branched chain.The models of the manipulators are built by using of Solidworks software,at the same time,the equations concerning kinematics and dynamics simulation analysis are proved by the simulation software.Accordingly,the images are gotten by the matlab,some useful conclusions are drawed by analyzing these images.This thesis mainly includes the following sections:(1)Through using Solidworks 3D software,the models are built which are both called 2-RPU&SPR.The analysis of degrees of freedom concerning the two manipulators are analysed by using the theory of screw,at the same time,through the method of the closed-loop vector equation,the equations of the two institutions’ s position are gotten.At last,using MATLAB,the equations of the position are proved.(2)In the chapter 1,the equations analysis of the position has been accompolished.Through using the equations of constraint mechanism and position,relative Angles are solved and obtained,on this basis,the analysis of the working space of the manipulators are analyzed by using software,meanwhile,in the second chapter,the contrary of the two kinds of structure’s analysis have been made,and some relevant conclusions are drawed.(3)By the second chapter of the manipulator’s position equations,the equations are derivated,so the jacobian matrix of velocity of the two mechanisms are obtained,then the velocity of the branched chain are calculated,the acceleration of the structure are got by devirating,and so the Hesse matrix concerning the two structures are got.Lastly,through the principle of virtual work,the inverse dynamics of constraint mechanism of model have been built.By using software,the relation between the driving force and the driving displacement of three-dimensional figure have been gotten.(4)At last,using the virtual work principle,the stiffness’ s matrics of the manipulators are established,and the analysis of the two kinds of 2-RPU&SPR structures are gotten,and some useful conclusions are carried out by the images which is depicted by the software.