Kinematics And Dynamic Analysis Of A Novel 3-CRU Translational Parallel Mechanism

Parallel mechanism has been widely used which has many advantages,such as high stiffness,high bearing load capacity,much higher precision then another mechanism and low inertia.These advantages of parallel mechanism are suited for the high-speed or heavy-load working situation.This 3-CRU translational parallel mechanism was born in long term production practice.It has a simpler structure and lower manufacturing cost than conventional six degree of freedom parallel mechanism.Especially,the parallel mechanisms which have same branch are highly concerned.In this paper the 3-CRU translational parallel mechanism has three identical CRU branched group.First the paper introduces the characteristics of the 3-CRU translation parallel mechanism and verification the degree of freedom.Then essay verified whether the parallel mechanism meets the expected performance requirements and then established the Jacobi matrix of velocity and acceleration.It can be used to analysis the velocity and acceleration.After the kinematic analysis,the essay analysis the influence of angle on work-space and use the MATLAB to draw the work-space shape and work-space cubage.The variety laws of the isotropy and the force transfer following with the change of the angle is set up based on the speed Jacobi matrix and the force Jacobi matrix of mechanism.The location error model is established based on the positive position.The graphs of the output error is found by changing the regulation of position output error.The dynamic model of the 3-CRU translation parallel mechanism is established by using virtual work principle and then to analysis the model.